Abstract
In nuclear fusion research, inspecting tokamak vessel by controlling remote-handling robot is promising. To achieve collision-free, precise robot movement in tokamak vessel, it is necessary for the control system to perform motion planning, closed-loop control, interface operation and other functions. In this paper, a control system based on Ethernet and CAN network for a developed snake-like robot for inspecting tokamak vessel is proposed. Then, the robot kinematics model is built. Motion planning procedure is completed by a stepwise iterative algorithm. And a dual-loop control method for each joint is realized. A control software is developed to perform control computation and interface operation. Finally, the effectiveness of the control system for the robot is verified by actual experiments.
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Acknowledgements
This research work was supported by the China National Magnetic-Confinement Fusion Energy R&D Program (ITER) and funded by the National Science and Technology Major Project of the Ministry of Science and Technology of China (No.2012GB102007) and the National Natural Science Foundation of China (NSFC) under Grant No.61503361. The authors wish to thank the research group for their great contributions to the presented research. The views and opinions expressed in this paper are the sole responsibility of the authors.
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Liu, Y. et al. (2017). Control System Design and Implementation of Flexible Multi-joint Snake-Like Robot for Inspecting Vessel. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_76
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DOI: https://doi.org/10.1007/978-3-319-48036-7_76
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