Bilaterally controlled robot for conditioning the inside of pipe.

Abstract

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.