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

页码：595 / 603

页数：9

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