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SynopsisA bilaterally controlled robot has been developed for the purpose of conditioning the inside of pipe. The robot travels inside the pipe and is operated by a remote manipulation, which controls grinder position and grinding. The system is controlled by master-slave and bilateral method. The operator can feel the remote operation of the grinder like a manual operatioia.The robot is capable of precise and delicate conditioning. It has proved useful for improving the working environment.

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