Regression Model of the Kinematics of an In-Tube Robot with Omni-Wheel Motors

The study aims to develop an empirical model for the dependence of longitudinal $$\dot {z}$$ and angular $$\dot {\theta }$$ rotational speeds along the pipe axis on a control action in the form of pulse-width modulation of the signal on the omni-wheel drives of a robotic device. The model is based on second-order rotatable planning. Data was obtained from tests in a DN150 pipe. The model enables planning of motion along a helical trajectory of a robotic device within a pipe.