Abstract
In this chapter, robot motion and adaptation co-simulations in MATLAB and V REP environments are described. The simulations feature various motion scenarios, including pipe adaptation, motion on horizontal surfaces, rough terrain, horizontal and vertical pipes. The simulations performed provided valuable resources for control system of the robot prototype and served as indispensable validation tools for proper desing and tuning of the original pedipulator trajectory calculation algorithm.
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Ciszewski, M., Giergiel, M., Buratowski, T., Małka, P. (2020). Simulations of the Robot Adaptation and Motion in Various Environments. In: Modeling and Control of a Tracked Mobile Robot for Pipeline Inspection. Mechanisms and Machine Science, vol 82. Springer, Cham. https://doi.org/10.1007/978-3-030-42715-3_5
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DOI: https://doi.org/10.1007/978-3-030-42715-3_5
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