Anzeige
Erschienen in:
2017 | OriginalPaper | Buchkapitel
Control System Design and Implementation of Flexible Multi-joint Snake-Like Robot for Inspecting Vessel
verfasst von : Yi Liu, Qingquan Yan, Qiang Zhang, Weibin Guo, Odbal, Baoyuan Wu, Zengfu Wang
Erschienen in: Intelligent Autonomous Systems 14
Aktivieren Sie unsere intelligente Suche, um passende Fachinhalte oder Patente zu finden.
Wählen Sie Textabschnitte aus um mit Künstlicher Intelligenz passenden Patente zu finden. powered by
Markieren Sie Textabschnitte, um KI-gestützt weitere passende Inhalte zu finden. powered by
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.