Based on multi microcomputer, the automatic control system of pipeline all position welding process is developed. The system structure, working principle and software design are described.
建立了基于多微处理器的管道全位置焊接自动控制系统，描述了其系统结构、工作原理和软件设计。
The mathematical model is the academic groundwork of autonomous navigation strategy design and relevant structure design of pipeline robot in T-joint.
所提出数学模型是管道机器人三通自主行走控制策略设计和相应结构设计的理论基础。
The mathematic model is a groundwork of autonomous navigation strategy design and relevant structure design of pipeline robot in elbow.
所提出数学模型是管道机器人弯道自主行走控制策略设计和相应结构设计的理论基础。
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