Because the wheeled type has a relatively large range of motion and relatively free direction, it is usually used in relatively wide and flat parks, such as shopping malls, power plants, and production plants. The slide rail type has a fixed track, so the range of motion is limited, so it is usually used indoors or outdoors to inspect only a certain fixed area.

Therefore, their motor motion control will also be different. The core motor motion control systems of these two inspection robots will be introduced in detail below.

Firstly, the wheel type is generally 4 wheels. The drive control of the wheels is generally driven by a DC brushless motor, which is relatively simple, while the core inspection part of the pan/tilt is relatively complicated, because the pan/tilt requires pitching, steering, raising, and lowering actions. Generally, 6-axis stepper motor drive control is required, and some users need 8-axis stepper motor drive control when the telescopic function of the pan/tilt is added. Therefore, the more the number of axes, the more complicated the relative movement, and the space of the inspection trolley is limited. Therefore, when the size of the stepper motor on the market is constant, we recommend the use of a harmonic reducer to save space, and because it is a multi-axis control system, the PUSIROBOT PMC007 series canopen bus stepper driver is also routinely used in the drive to check the 42 stepper motor of the pan/tilt.