Driver system for the extraction of a pipeline inspection robot

The synthesis and analysis of a state space model of a drive system for the extraction of a pipeline inspection robot is described in this paper. This system has been developed to address the need for inspection of the pipe network distributing jet fuel to the fleet in a national airport. Since it is important to preserve the health of the pipes, the extraction of the inspection robot must be carefully considered. Therefore, both the angular displacement and speed as well as the applied torque must be added in the model.