Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios

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.