通过对管道清洗机器人机械结构的设计,研究并确定了清洗机器人的较为合理的控制策略和控制系统,为管道远程监控自动清洗技术的进一步研究提供了平台。%Through the design of mechanical structure of piping cleaning robot , we study and define the reasonable control strategy and control system, and provide a platform for the automatic cleaning technology with remote monitor function .
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