Design and implementation of motion planning of inspection and maintenance robot for ITER-like vessel

被引：5
作者：
Wang, Hesheng [1 ,2 ]
Lai, Yinping [1 ,2 ]
Chen, Weidong [1 ,2 ]
Cao, Qixin [3 ]
机构：
[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
[2] Minist Educ China, Key Lab Syst Control & Informat Proc, Beijing, Peoples R China
[3] Shanghai Jiao Tong Univ, Inst Robot, Shanghai 200240, Peoples R China
来源：
FUSION ENGINEERING AND DESIGN | 2015年 / 101卷
关键词：
Motion planning; Inspection; Maintenance; Remote handling; ITER-like vessel; REMOTE HANDLING SYSTEMS; JET;
D O I：
10.1016/j.fusengdes.2015.10.001
中图分类号：
TL [原子能技术]; O571 [原子核物理学];
学科分类号：
0827 ; 082701 ;
摘要：
Robot motion planning is a fundamental problem to ensure the robot executing the task without clashes, fast and accurately in a special environment. In this paper, a motion planning of a 12 DOFs remote handling robot used for inspecting the working state of the ITER-like vessel and maintaining key device components is proposed and implemented. Firstly, the forward and inverse kinematics are given by analytic method. The work space and posture space of this manipulator are both considered. Then the motion planning is divided into three stages: coming out of the cassette mover, moving along the in-vessel center line, and inspecting the D-shape section. Lastly, the result of experiments verified the performance of the motion design method. In addition, the task of unscrewing/screwing the screw demonstrated the feasibility of system in function. (C) 2015 Elsevier B.V. All rights reserved.
引用
收藏
页码：111 / 123
页数：13
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