Development of a position control scheme for rotating sensor unit attached to in-pipe robot

In this article, we propose a position control scheme for the rotation axis of a rotating ultrasonic sensor unit with a position adjustment mechanism. The objective of the control is to adjust the position of the rotation axis of the ultrasonic sensor such that it can coincide with the center of a p...

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Bibliographic Details
Published in:Artificial life and robotics 2012-12, Vol.17 (2), p.317-321
Main Authors: Wada, Hideki, Oya, Masahiro, Okumura, Katsuhiro
Format: Article
Language:English
Subjects:
Artificial Intelligence
Computation by Abstract Devices
Computer Science
Control
Mechatronics
Original Article
Robotics
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Summary:In this article, we propose a position control scheme for the rotation axis of a rotating ultrasonic sensor unit with a position adjustment mechanism. The objective of the control is to adjust the position of the rotation axis of the ultrasonic sensor such that it can coincide with the center of a pipe. To realize the above objective, we provide a method to measure the vertical and horizontal positions of the rotation axis in a pipe. Using the measurements, we propose a position controller for the rotation axis. By carrying out experiments, we investigate the usefulness of the developed mechanism and the proposed position controller. As a result, it is shown that the proposed position control scheme ensures good performance.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-012-0062-0