A mobile robot designed for in-pipe inspection is considered. The robot consists of a cylindrical body with six links, each ended by a driven wheel. For each link, a spring connected to a jack (prismatic joint) is used to push the wheel against the wall of the pipe. The robot is actuated by DC motors applied on the wheels. The aim of the study is to define the trajectory of the robot in a curved pipe. Several experiments have shown that in this case, the robot may be stopped in some parts of the elbows. The path planning is performed assuming that the robot motion is very slow. An energetic method is used in order to detect the locking zones, and to define the best trajectories avoiding these locking phenomena.

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