受限管道空间内压壁机器人控制方法研究

为了能够在受限管道空间内自由移动，机器人必须适应管道的各种几何变化。提出了一种压壁式机器人，可以适应管道直径和坡度的变化。还提出了一种利用安装在压壁机构上的角度传感器估计机器人主体与管道之间的相对姿态的方法。由于法向力和姿态可以从角度传感器测量的角度信息估计，机器人的姿态控制比使用压力或视觉传感器更加简单、有效。相对于管道的几何姿态估计使机器人能够识别管道的倾斜度，机器人可以根据管道倾斜度的变化来控制法向力。经过实验验证，使用所提出的方法在机器人姿态控制的同时，还可以降低机器人部件的功耗和应力。

Research on Control Method of Wall-pressing Robot in Confined Pipeline Space

In order to move freely in the confined pipe space, the robot must adapt to various geometric changes of the pipe. A pressure wall robot is proposed, which can adapt to the changes of pipe diameter and slope. A method of estimating the relative attitude between the robot body and the pipe by using the angle sensor installed on the pressure wall mechanism is also proposed. Because the normal force and attitude can be estimated from the angle information measured by the angle sensor, the attitude control of the robot is simpler and more effective than that using pressure or vision sensors. The geometric attitude estimation relative to the pipeline enables the robot to identify the inclination of the pipeline, and the robot can control the normal force according to the change of the inclination of the pipeline. Experiments show that the proposed method can not only control the robot attitude, but also reduce the power consumption and stress of robot components.