h. tourajizadeh

In this paper, a new in-pipe robot is designed and modeled, which is equipped by a manipulator in order to perform repairing tasks within the pipelines. Also, in order to provide a good manipulation process, impedance control is designed and implemented for the robot. Most of the in-pipe robots are limited to perform inspecting operations and are not capable of conducting manipulating tasks. In order to cover the mentioned deficiency, the robot is redesigned by adding a manipulator on the main body of the moving platform. Afterward, the model of the overall robot is extracted. Finally, impedance control is also designed and implemented for the robot so that not only the position of the end-effector can be controlled, but also the required force to cover the repairing task can be precisely provided. The correctness of modeling and efficiency of the proposed mobile in-pipe robot is verified by conducting some simulation scenarios in MATLAB. It will be seen that by the aid of the proposed mechanism and employing the designed force controlling strategy, the manipulation process of the robot in the pipes can be realized successfully.

In this paper, kinetic and kinematic modeling of a 4 wheel steering vehicle is done and its movement is controlled in an optimal way using Linear Quadratic Regulator (LQR). The results are compared with the same control of two-wheel steering case and the advantages are analyzed. In 4 wheel steering vehicles which are nowadays more applicable the number of controlling actuators are more than the required actuators for controllability of the system. As a result, the possible path through which he vehicle can move to transfer between two boundaries is not unique and this fact provides the possibility of optimization of a desired cost function. In this paper after extracting the model of these vehicles based on Jacobian matrix a compromise between the accuracy and controlling effort is selected as the mentioned objective function and the optimal control and its related optimal path is extracted through which the best accuracy and the least input is required. The correctness of modeling and efficiency of the designed optimal controller is verified by the aid of a series of simulation scenarios and also comparing the results between 4 wheel steering vehicles and 2 wheel steering ones.