Adaptive Suspension System Position-Force Control of Wheeled Wall-Pressed In-Pipe Climbing Robot

The article considers the implementation of the position-force control of the adaptive suspension of a three-module wheeled robot designed to monitor ventilation pipeline systems. Mathematical equations have been developed that describes the dynamics of a controlled robot movement inside a vertical section of a pipeline. A mathematical model includes a nonlinear model of dry friction, which makes it possible to simulate the slippage of the robot's wheels relative to the pipe surface. The results of computational experiments are presented, demonstrating the operability of the proposed technique and the high performance of the adaptation mechanism when changing the diameter and properties of the pipe surface.