Simulation and Control of the Segmented Inspection Robot MAKRO

摘要

The combined modeling and control task for a multi-joint sewer inspection system is described. The robot, called MAKR01.1 is of worm-like shape and designed for pipes of 30 to 60 cm width. Since the control of more than 20 degrees of freedom is not a simple task, we need simulation of the robots kinematics before and during every run. In this case, our simulation of the robot's motions is fast enough to run as a visualization tool. The construction of trajectories and the methods to follow and to visualize them are presented.