prošireni sažetak izlaganja sa skupa
In this paper, the author’s idea was to investigate the behaviour of the in-pipe inspection robot during its motion through pipeline sections, such as the elbow, T-piece, narrowing or expansion. Comparisons of robot stability were given (with a minimum of 3 robot legs), and for the robot with an increased number of robot legs to 4, as well as the impact this has on the stability of the robot. The approach is based on linking three computer programs - Solid Works, MSC ADAMS and MATLAB Simulink, with the aim of creating architecture models of the robot and the models of its behaviour (kinematic and dynamic model). The robot's control algorithm is based on a so-called hybrid compliance control system, including its passive and active parts. The method used for testing the system stability for specific robot system architectures was the so-called direct method or the second Lyapunov method. Depending on the nature of Lyapunov’s function, conclusions can be inferred on the stability of the equilibrium state of the system (stable and asymptotic stability state, and unstable state). The analysis was carried out with the aim of broad consideration of the overall behaviour of the robot system, as well as in the creation of its mathematical model for the future possible optimization of the elements and their geometry, and the parameters of the mathematical model of behaviour.
in-pipe inspection robot, behaviour, hybrid compliance control system, stability, second Lyapunov method
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