Robots for automatic motion inside pipelines of various diameters from 100 up to 1000 mm, having essentially different geometrical parameters (radiuses and a configuration of bending, length, etc.) and transporting the various environment (gas, oil, water, etc.) is the modern direction of an application robotics, very demanded by the industry. This paper presents some examples of such robots intended for execution of various technological operations, diagnostics, repairing, clearing, welding, etc. One of the most complex operations is the painting demanding heightened smoothness of the robot motion. Paper introduces new approaches in design and calculations of this robotic system. and Obsahuje seznam literatury