Motion Control of the Robotized Pipe-Laying Crane on a Specified Course

The principles of developing a system for automatic regulation of a robotic pipe-laying crane course working as part of insulating and laying column are described. It is shown that due to the yawing moment the machine is displaced towards the trench and that demands its periodic closedown and course correction. A method is proposed that allows the course to be effectively adjusted without the pipelayer shut-down. The method is based on controlling the position of the crane trolley suspension.