Control System for a Miniature In-Tube Robot

The article describes a way to design the structure and control system of a miniature in-tube robot (MIR) that is used for diagnostics and local repair of inner surfaces of arbitrary orientated tubes of 50 mm diameter. It is suggested that the MIR structure consist of three modules: the base one that is connected with an operator, the remote one that is used for re-translation of the operator’s commands to control the transportation and handling device (THD) and the THD proper that is responsible for movement, diagnostics, and local repair of the tubes using specialized equipment.  The THD moves using caterpillar tracks; and the in-tube space is illuminated during the process.   Considering the peculiarities of the MIR movement, it is proposed to build its control system using a fuzzy-logic controller where the illumination level and THD current position are used as entry data, and the values of THD linear and rotational speeds as output data. Mathematic modelling and a full-scale experiment involving moving a mock-up THD inside a tube have been carried out to test the fuzzy logic algorithm. 

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