design, modeling, and impedance control of a new in-pipe inspection robot equipped by a manipulator

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 performing inspection operations and are not capable of conducting manipulation tasks. in order to cover the mentioned deficiency, the robot is redesigned by adding a manipulator to the main body of the moving platform. afterwards, the model of the overall robot is extracted. finally, impedance control is also designed and implemented for the robot so that, not only can the position of the end-eector be controlled, but also the required force to cover the repairing task can be precisely provided. the correctness of modeling and effciency of the proposed mobile inpipe robot is verified by conducting some simulation scenarios in matlab. it will be seen that with 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.