Consideration on implementation miniaturization of motor driver circuit for wireless control of a microrobot moving through small pipes

We designed a control circuit that can be mounted on a small mobile robot for automatic inspection of small-diameter pipes with a diameter of 65 mm. To miniaturize the control circuit so that it can be mounted on a robot, we used a microcomputer for the motor and the control circuit. To verify the control operation of the Nammeca wheel drive motor installed on the prototype of the in-pipe mobile robot. We conducted an experiment and found that the control circuit we had developed was useful.