AUTO-ORIENTATING ROBOTIC ARM WITH APPLICATION TO IN-PIPE INSPECTION ROBOTS

Leon BRAI, Mircea HUJA, Radu BALAN

Abstract


The paper presents the development of an auto-orientating system that allows a robotic arm to always keep its vertical position. In this way, the mobile robot’s position will not affect the functionality of the proposed robotic arm. The developed system is intended for use with in-pipe inspection robots that can independently explore and evaluate the constructive parameters and the condition of the pipe network. The proposed system is developed around the Atmel ATMega16 microcontroller which is connected to an accelerometer mounted on the robotic arm. The whole functionality of the system was tested using the ROBIN250 mobile robot and the obtained results are presented in the paper.

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References


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