eng Science and Education Publishing American Journal of Mechanical Engineering 2328-4110 2017-12-15 5 6 280 283 10.12691/ajme-5-6-9 AJME2017569 article Michal Kelemen michal.kelemen@tuke.sk 1 Ľubica Miková 1 Ivan Virgala 1 Tomáš Lipták 1 Department of Mechatronics, Technical University of Kosice, Faculty of Mechanical Engineering, Kosice, Slovak Republic Paper deals with inner pipe locomotion. In-pipe machines locomote inside pipe to make inspection, pipe repairmen or cable drawing into old pipes. Inner pipe wall deviations have significant influence to locomotion inside pipe. This is reason way it is necessary to identify of inner pipe wall deviations. http://pubs.sciepub.com/ajme/5/6/9/ajme-5-6-9.pdf pipe locomotion deviation tolerances