Implementation of a Robotic Mobile Manipulator moving a NDT probe inside Steel Cylinder Concrete Pipes for Corrosion Assessment

Abstract

This paper presents the full implementation of a mobile robotic manipulator moving a probe inside steel cylinder concrete pipes (SCCP) for corrosion assessment. Mechanical prototype based on an off-the-shelf mobile base and a custom-designed manipulator, control and monitoring software architecture, posture control and manipulation inside SCCP are presented. Simulations and testing under realistic operating conditions demonstrate a reliable solution providing repeatable results with high positioning accuracy.