Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios

被引：1
作者：
Yang, Feng [1 ]
Huang, Haihua [2 ]
Chen, Yanzheng [1 ]
Li, Weiming [2 ]
Lai, Quanbin [3 ]
Ma, Rui [3 ]
Sun, Binxuan [3 ]
Duan, Xingguang [3 ]
机构：
[1] Guangxi Fangchenggang Nucl Power Co Ltd, Fangchenggang 538001, Guangxi, Peoples R China
[2] China Nucl Power Technol Res Inst Co Ltd, Shenzhen 518000, Peoples R China
[3] Beijing Inst Technol, Beijing 100081, Peoples R China
来源：
INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2022), PT III | 2022年 / 13457卷
基金：
国家重点研发计划;
关键词：
Nuclear robot; Remote maintenance; Master-Slave control;
D O I：
10.1007/978-3-031-13835-5_54
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this paper, the master-slave control algorithm is investigated and an experimental verification platform is built to validate the master-slave algorithm and the remote maintenance operation flow for the needs of nuclear power remote maintenance scenarios. The paper adopts an incremental master-slave control algorithm based on position-orientation separation method, which overcomes the isomerism and workspace inconsistency problem between the master and slave while ensuring the same motion trend between the master and slave; Secondly, a variety of position mapping scales are designed to meet the needs of nuclear power maintenance operation tasks, taking into account the efficiency and accuracy of the operation. Meanwhile, a safety assurance mechanism is introduced in the master-slave control architecture to eliminate the situation that the slave robot arm moves violently in a short period of time due to operator's misoperation. Finally, the effectiveness of the master-slave control algorithm is verified by simulating a nuclear remote maintenance task on the experimental validation platform.
引用
收藏
页码：595 / 603
页数：9
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