The machine structure and control system of this robot are discussed in detail, and the study of robot motion is made by D-H method.
详细叙述了其机械结构和控制系统的设计，运用D -H法分析了机构运动。
ZHU Jun. Motion Control Investigation of Pipeline Ispection Robot[D]. Guangzhou: South China University of Technology, 2012.
[1]祝俊。管道检测机器人的运动控制研究[D]。广州：华南理工大学， 2012。
ZHU Jun. Motion Control Investigation of Pipeline Ispection Robot[D]. Guangzhou: South China University of Technology, 2012.
[1]祝俊。管道检测机器人的运动控制研究[D]。广州：华南理工大学， 2012。
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