To address the inability of existing externalpipe-climbing robots to adaptively regulate clamping force during operation, a novel robot was developed. To enable automatic clamping in response to varying pipeline cond...
详细信息
To address the inability of existing externalpipe-climbing robots to adaptively regulate clamping force during operation, a novel robot was developed. To enable automatic clamping in response to varying pipeline conditions, an adaptive clamping force control method based on optimal velocity trajectory tracking is proposed. This approach achieves adaptive clamping force regulation through indirect speed control. First, the target clamping force is calculated according to pipeline conditions and is then translated into a target rotational speed via optimal velocity trajectory planning. The motor then accurately tracks this speed signal, thereby ensuring precise control of the clamping force. Experimental results of the robot prototype demonstrate that the proposed algorithm maintains a clamping force control error of less than 5.0% across pipelines with different diameters, inclinations, and surface roughness—outperforming traditional PID control and ensuring stable operation under varying conditions of angle, diameter, and friction.
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