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Abstract <p>The study aims to develop an empirical model for the dependence of longitudinal <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(\dot {z}\)</EquationSource> <!--MachMan2670003Zatonskii-m1--> </InlineEquation> and angular <InlineEquation ID="IEq2"> <EquationSource Format="TEX">\(\dot {\theta }\)</EquationSource> <!--MachMan2670003Zatonskii-m2--> </InlineEquation> rotational speeds along the pipe axis on a control action in the form of pulse-width modulation of the signal on the omni-wheel drives of a robotic device. The model is based on second-order rotatable planning. Data was obtained from tests in a DN150 pipe. The model enables planning of motion along a helical trajectory of a robotic device within a pipe.</p>

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Regression Model of the Kinematics of an In-Tube Robot with Omni-Wheel Motors

  • 期刊论文

  • 发表日期：

    2026年5月29日

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  • A. V. Zatonskii,
  • D. N. Kuchev,
  • F. S. Beloborodov,
  • I. E. Keller,
  • E. R. Moshev,
  • I. N. Gaganova,
  • E. S. Tryastsyn

摘要

Abstract

The study aims to develop an empirical model for the dependence of longitudinal \(\dot {z}\) and angular \(\dot {\theta }\) rotational speeds along the pipe axis on a control action in the form of pulse-width modulation of the signal on the omni-wheel drives of a robotic device. The model is based on second-order rotatable planning. Data was obtained from tests in a DN150 pipe. The model enables planning of motion along a helical trajectory of a robotic device within a pipe.