主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2021
開催日: 2021/06/06 - 2021/06/08
In recent years, aging of pipelines is becoming a critical issue faced by human beings. However, some pipes lack information such as length and location of bends, which hinders the replacement and removal of pipes. Therefore, it is necessary to create a map of the pipeline. In this paper, a method of constructing a three-dimensional pipe map based on forward kinematics by installing a wheel encoder and a gyro sensor in the towed unit of a robot.