ꦍ(1) the geometric modeling of pipe surface. The kinematic characteristics of a single wheel on arbitrary surface position of a single wheel on a pipe surface are studied. The relationship between wheel speed and driving control input under pure rolling and no sideslip conditions is analyzed, and the relationship between wheel center trajectory and wheel position is also analyzed.

💝(2) the geometric constraint analysis of wheeled mobile robot on the curved surface of the tube. According to the condition that the wheeled mobile robot is tangent to the wall of each wheel in the circular tube, it is analyzed." style="box-sizing: border-box">CCTV detection robot The geometric constraint in the circular tube, especially the relationship between the 6 coordinates of the gesture coordinates and the space position coordinates.

🔯(3) kinematic analysis of a wheeled mobile robot on a cylindrical surface.

⛦This project will analyze the relationship between robot control input and robot screw motion parameters, and then deduce the kinematics model of wheeled mobile robot in circular tube, and verify the kinematics model through simulation experiments.

꧂(4) design a wheeled mobile robot system and corresponding control algorithm, design a set of wheels to expand, and design the corresponding motion control algorithm, so that the robot can maintain horizontal driving in the pipeline.