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Published in:
2017 | OriginalPaper | Chapter
Control System Design and Implementation of Flexible Multi-joint Snake-Like Robot for Inspecting Vessel
Authors : Yi Liu, Qingquan Yan, Qiang Zhang, Weibin Guo, Odbal, Baoyuan Wu, Zengfu Wang
Published in: Intelligent Autonomous Systems 14
Publisher: Springer International Publishing
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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.