Publications / 1995 Proceedings of the 12th ISARC, Warsaw, Poland

Robotic Kinematic Simulation for Sewer Renovation

S.J. Broadhurst, G. Cockerham, N. Taylor, T. Pridmore
Pages 109-116 (1995 Proceedings of the 12th ISARC, Warsaw, Poland, ISBN 9788386040025, ISSN 2413-5844)

Research into the development of robotic modules is discussed in the context of cost-effective, small bore, non-man entry (NME) sewer renovation. With an associated sensing system previously reported [1], interest herein is centred upon suitably robust task kinematics and control, where predictive modeling is implemented employing the GRASP robotic simulation software package.

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