Control System Design of Reactor Robot for Object Salvaging Underwater

被引：2

作者：

Huang, Xiaochen ^{[1
,2
]}

Sun, Lingyu ^{[2
]}

Zhang, Xiaojun ^{[2
]}

Li, Manhong ^{[2
]}

Zhang, Minglu ^{[2
]}

机构：

[1] Tianjin Univ Technol & Educ, Sch Mech Engn, Dagunan Rd 1310, Tianjin 300222, Peoples R China

[2] Hebei Univ Technol, Sch Mech Engn, Xiping Rd 5340, Tianjin 300401, Peoples R China

来源：

COMMUNICATIONS, SIGNAL PROCESSING, AND SYSTEMS, CSPS 2018, VOL III: SYSTEMS | 2020年 / 517卷

关键词：

Reactor robot; Object salvaging underwater; Control system; Control algorithm; EMERGENCY RESPONSE; ACCIDENT;

D O I：

10.1007/978-981-13-6508-9_75

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A reactor robot for object salvaging underwater was designed to reduce the labor intensity of operators under the nuclear radiation environment. The control system of the robot, composed of control system hardware and control system software, was designed to be compact and radiation resistant. The control algorithm of the robot based on current, velocity, and position feedback of each motor makes the robot achieve the goal of salvaging exactly and rapidly. In order to verify the stability of the control system, the salvaging foreign matter experiment was tested in nuclear base. The result shows that the control system of the robot is stable enough.

引用

页码：621 / 627

页数：7

共 50 条

[41] Design of J-groove welding robot motion control system [J].

Hu, Shengsun ;

Wang, Mingjian ;

Shen, Junqi ;

Chen, Changliang ;

Gu, Wen ;

Li, Jian .

Tianjin Daxue Xuebao (Ziran Kexue yu Gongcheng Jishu Ban)/Journal of Tianjin University Science and Technology, 2014, 47 (04) :371-376

[42] Design of control system for an intelligent air purifier and sweeper combined robot [J].

Xiao Qijun ;

Liu Chaoying ;

Liu Yifang ;

Huang Wei ;

Luo Zhonghui .

PROCEEDINGS OF THE 2017 12TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2017, :227-230

[43] Integrated design of brushless motor drive and control system for robot joints [J].

Mo Shuai ;

Li Xu ;

Yang Zhen-ning ;

Zhou Chang-peng ;

Gao Han-jun ;

Cen Guo-jian ;

Huang Yun-sheng .

JOURNAL OF CENTRAL SOUTH UNIVERSITY, 2021, 28 (12) :3818-3828

[44] Software Design of Restaurant Service Mobile Robot's Control System [J].

Shi Yunxu .

MATERIAL SCIENCE AND ENGINEERING TECHNOLOGY, 2012, 462 :743-747

[45] Embedded Control System Design for Coal Mine Detect and Rescue Robot [J].

Zhu Jianguo ;

Gao Junyao ;

Li Kejie ;

Lin Wei ;

Bi Shengjun .

PROCEEDINGS OF 2010 3RD IEEE INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE AND INFORMATION TECHNOLOGY (ICCSIT 2010), VOL 6, 2010, :64-68

[46] Control System Design for a 5-DOF Table Tennis Robot [J].

Yang, Ping ;

Xu, De ;

Wang, Huawei ;

Zhang, Zhengtao .

11TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV 2010), 2010, :1731-1735

[47] Control System of a Small Intelligent Inspection Robot for Nuclear Power Plant use [J].

Pan, Erzhen ;

Guan, Da ;

Xu, Wenfu ;

Hu, Bingshan .

2015 IEEE INTERNATIONAL CONFERENCE ON INFORMATION AND AUTOMATION, 2015, :837-842

[48] Research on Underwater Safety Inspection and Operational Robot Motion Control [J].

Zhang Guangyi ;

Zeng Qingjun ;

Zhu Zhiyu ;

Dai Xiaoqiang ;

Zhu Chunlei .

PROCEEDINGS 2018 33RD YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2018, :322-327

[49] Design of One Control System Specially Dedicated to China Experimental Fast Reactor [J].

Lin Jianru ;

Yu Tuanjie ;

Gu Jipin ;

Liu Jian ;

Xie Zheng .

2013 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS), 2013, :18-21

[50] Design of Underwater Humanoid Flexible Manipulator Motion Control System Based on Data Glove [J].

Xu, Zhen ;

Yang, Canjun ;

Wu, Weitao ;

Wei, Qianxiao .

2020 6TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND ROBOTICS ENGINEERING, ICMRE, 2020, :120-124

← 1 2 3 4 5 →