A mathematical model to describe the traveling-capability of pipeline robot in T-joint is presented, which is composed of a set of constraint equations.
通过对约束方程的分析讨论、与管道机器人弯道通过性的对比分析，得出了规律性的结论。
A mathematical model to describe the traveling-capability of pipeline robot in T-joint is presented, which is composed of a set of constraint equations.
通过对约束方程的分析讨论、与管道机器人弯道通过性的对比分析，得出了规律性的结论。
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