Journal of Shandong University(Engineering Science) ›› 2018, Vol. 48 ›› Issue (6): 122-131.doi: 10.6040/j.issn.1672-3961.0.2018.237

• Others • Previous Articles     Next Articles

Motion control system design of multi-joint snake-like manipulator for nuclear environment

Qiang ZHANG()   

  1. Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei 230031, Anhui, China
  • Received:2018-06-06 Online:2018-12-20 Published:2018-12-26
  • Supported by:
    国家自然科学基金资助项目(61503361)

RichHTML

18

PDF (PC)

984

Abstract:

Based on the detection and maintenance work in the nuclear fusion reactor vessel as an example, a snake-like remote control manipulator with multi-joint series structure was presented, which adopted a composite control plan based on track push pull and adjustment with suspending arms. Aiming at the demand of the manipulator to carry out the whole vessel operation, the trajectory of the manipulator was simulated and analyzed. A motion control algorithm including path planning and trajectory control was designed, and a multi-axis coordination control system was established. The motion of the manipulator was tested inside the geometric simulation vessel environment, and the control accuracy of the joint rotation angle was evaluated. The gravity compensation module of the manipulator system was constructed, and the terminal positioning accuracy of the manipulator system was evaluated by the simulation of the flexible model. The test results verified the effectiveness of the motion control system.

Key words: nuclear fusion reactor vessel, snake-like manipulator, path planning, multi-axis coordinate control, control precision

CLC Number: 

  • TP242

Fig.1

Overall structure of the multi-joint snake-like manipulator system"

Fig.2

Motion freedom analysis and prototype display of the multi-joint snake-like manipulator system"

Fig.3

Simulation analysis diagram of the motion trajectory in the detection process of the manipulator"

Fig.4

Block diagram of the motion control system of the manipulator"

Fig.5

Flow chart of the motion control system of the manipulator"

Fig.6

Hardware and software interface of the manipulator motion control system"

Fig.7

Motion control experiment of the manipulator in the simulated EAST nuclear fusion vessel"

Fig.8

Scheme of the joint rotation angle measurement of the manipulator based on machine vision"

Table 1

Test results of control precision of the manipulator joint rotation"

(°)
关节序号 绝对角度 相对角度 转动刻度 顺/逆时针 θr
1 18.92 0 逆
2 17.85 1.07 1 000 逆 1.07
3 16.62 1.23 1 000 逆 1.23
4 15.41 1.21 1 000 逆 1.21
5 14.37 1.04 1 000 逆 1.04
6 11.90 2.47 2 000 逆 1.23
7 4.14 7.76 6 000 逆 1.29
8 -3.80 7.94 6 000 逆 1.32
9 11.38 15.18 12 000 顺 1.27

Fig.9

Test curve of control precision of the manipulator joint rotation"

Fig.10

Position tracking curves of each joint of the manipulator"

Fig.11

Structure of the gravity compensation module of the manipulator"

Fig.12

Flexible models of the horizontal joint arm module, the gravity compensation module and the terminal joint arm module"

Fig.13

System flexible models of the multi-joint manipulator"

Fig.14

Transformation of the adjacent coordinate system of the manipulator"

Fig.15

Deformation diagrams of the multi-joint manipulator under typical positions"

Fig.16

Position error curves before and after the correction"

1 PAMPIN R , DAVIS A , IZQUIERDO J , et al. Developments and needs in nuclear analysis of fusion technology[J]. Fusion Engineering and Design, 2013, 88 (6): 454- 460.
2 CHOI C , TESINI A , SUBRAMANIAN R , et al. Multi-purpose deployer for ITER in-vessel maintenance[J]. Fusion Engineering and Design, 2015, 98 (10): 1448- 1452.
3 GARGIULO L , BAYETTI P , BRUNO V , et al. Operation of an ITER relevant inspection robot on Tore Supra tokamak[J]. Fusion Engineering and Design, 2009, 84 (6): 220- 223.
4 何强.面向托卡马克腔第一壁维护的遥操作机械臂机构设计及分析[D].上海:上海交通大学, 2013: 9-15.
HE Qiang. Mechanism design and analysis of teleoperated manipulator for the maintenance of Tokamak first wall[D]. Shanghai: Shanghai Jiao Tong University, 2013: 9-15.
5 肖锡臻.面向托卡马克维护的多视觉遥操作机器人环境感知技术研究[D].沈阳:中国科学院沈阳自动化研究所, 2015: 11-40.
XIAO Xizhen. Research on environmental perception for tele-operation maintenance of Tokamak using multi-vision approach[D]. Shenyang: Shenyang Institute of Automation Chinese Academy of Sciences, 2015: 11-40.
6 HAIST B , MILLS S , LOVING A . Remote handling preparations for JET EP2 shutdown[J]. Fusion Engineering and Design, 2009, 84 (6): 875- 879.
7 DAMIANI C , ANNINO C , BALAGUE S , et al. The European contribution to the ITER remote maintenance[J]. Fusion Engineering and Design, 2014, 89 (10): 2251- 2256.
8 LI Zhang, ZANG Xizhe, SUO Laichun, et al. Static analysis and modal analysis of heavy-load manipulator based on ANSYS[C]//Proc of ICMECT 2014. Zurich, Switzerland: Trans Tech Publications, 2014: 1059-1064.
9 ZHANG Qiang , ZHOU Ling , WANG Zengfu . Design and implementation of wormlike creeping mobile robot for EAST remote maintenance system[J]. Fusion Engineering and Design, 2017, 118, 81- 97.
doi: 10.1016/j.fusengdes.2017.03.054
10 张强, 吴宝元, 郭伟斌, 等. 面向核聚变舱探测的遥操纵蛇形机器人系统[J]. 华中科技大学学报(自然科学版), 2017, 45 (10): 43- 48.
ZHANG Qiang , WU Baoyuan , GUO Weibin , et al. Snake-like remote control robot system for inboard detection of nuclear fusion vessel[J]. Journal of Huazhong University of Science and Technology (Natural Science Edition), 2017, 45 (10): 43- 48.
11 武遵.适用于核聚变反应舱的多关节机械臂关键技术研究[D].合肥:中国科学技术大学, 2016: 35-37.
WU Zun. Study on key technology of multi-joint manipulator for vessel of fusion device[D]. Hefei: University of Science and Technology of China, 2016: 35-37.
12 王美玲.面向救援任务的双臂机器人协作运动规划与控制方法研究[D].合肥:中国科学技术大学, 2015: 65-85.
WANG Meiling. Research on cooperative motion planning and control of a redundant dual-arm robot for rescuing tasks[D]. Hefei: University of Science and Technology of China, 2015: 65-85.
13 张强.多关节核环境移动机器人平台的机构设计与实现[D].合肥:中国科学技术大学, 2017: 115-119.
ZHANG Qiang. Mechanism design and implementation of multi-joint mobile robot platform for nuclear environment[D]. Hefei: University of Science and Technology of China, 2017: 115-119.
14 徐文福, 强文义, 李成, 等. 自由漂浮空间机器人路径规划研究进展[J]. 哈尔滨工业大学学报, 2009, 41 (11): 1- 12.
doi: 10.3321/j.issn:0367-6234.2009.11.001
XU Wenfu , QIANG Wenyi , LI Cheng , et al. Research progress of path planning for free floating space robots[J]. Journal of Harbin Institute of Technology, 2009, 41 (11): 1- 12.
doi: 10.3321/j.issn:0367-6234.2009.11.001
15 ALI A A , RASHID A T , FRASCA M , et al. An algorithm for multi-robot collision-free navigation based on shortest distance[J]. Robotics and Autonomous Systems, 2016, 75 (1): 119- 128.
16 ZHANG Yong , GONG Dunwei , ZHANG Jianhua . Robot path planning in uncertain environment using multi-objective particle swarm optimization[J]. Neurocomputing, 2013, 103, 172- 185.
doi: 10.1016/j.neucom.2012.09.019
17 YANG Yang , SONG Yuntao , PAN Hongtao , et al. Visual servo simulation of EAST articulated maintenance arm robot[J]. Fusion Engineering and Design, 2016, 104, 28- 33.
doi: 10.1016/j.fusengdes.2016.01.024
18 PANFILOV P B , KOROLEV S V . Integration of 3D dynamic models being created by 3D machine vision system into telerobotics applications[J]. Automation and Remote Control, 2011, 72 (5): 1102- 1113.
doi: 10.1134/S0005117911050195
19 VIDILINA O V, VOROPAEVA N V. Reduction of flexible joint manipulator mathematical model[C]// Proc of MM-ITNT 2017. Nordrhein-Westfalen, Germany: CEUR-WS.org, 2017: 249-253.
20 王琨, 骆敏舟, 曹毅, 等. 基于多变量预测补偿的机械臂精度提升方法[J]. 电子测量与仪器学报, 2014, 28 (11): 1213- 1221.
WANG Kun , LUO Minzhou , CAO Yi , et al. Promoting method for manipulator accuracy based on multi-variable prediction and compensation[J]. Journal of Electronic Measurement and Instrument, 2014, 28 (11): 1213- 1221.
[1] LI Xiaohui, LIU Xiaofei, SUN Weitong, ZHAO Yi, DONG Yuan, JIN Yinli. An inspection task assignment and path planning algorithm based on vehicles-UAVs collaboration [J]. Journal of Shandong University(Engineering Science), 2025, 55(5): 101-109.
[2] ZHAO Hongzhuan, ZHANG Xin, ZHANG Beiling, ZHAN Xin, LI Wenyong, YUAN Quan, WANG Tao, ZHOU Dan. Adynamic safe elliptical path planning method for intelligent vehicles based on improved artificial potential field [J]. Journal of Shandong University(Engineering Science), 2025, 55(3): 46-57.
[3] HAN Yi, LIU Yichao, GUAN Tian, LAN Liwen, TANG Ningye. Improved A* and dynamic window approach for unmanned vehicle path planning [J]. Journal of Shandong University(Engineering Science), 2025, 55(3): 16-24.
[4] Hao XIAO,Zhuhua LIAO,Yizhi LIU,Silin LIU,Jianxun LIU. Unmanned vehicle path planning based on deep Q learning in real environment [J]. Journal of Shandong University(Engineering Science), 2021, 51(1): 100-107.
[5] Caihong LI,Chun FANG,Zhiqiang WANG,Bin XIA,Fengying WANG. Complete coverage path planning for mobile robots based on hyperchaotic synchronization control [J]. Journal of Shandong University(Engineering Science), 2019, 49(6): 63-72.
[6] Fengyu ZHOU, Fang WAN, Jiancheng JIAO, Junjian BIAN. Design for autonomous charging system of family companion robot [J]. Journal of Shandong University(Engineering Science), 2019, 49(1): 55-65.
[7] YAN Xuan-hui, XIAO Guo-bao*. Path planning of a mobile robot based on fixed-length real number encoding mechanism [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2012, 42(1): 59-65.
[8] LIU Bin, ZHANG Ren-jin. A path planning method using two-stage particle swarm optimization [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2012, 42(1): 12-18.
[9] CHEN Ming-zhi1, XU Chun-yao2, CHEN Jian2, YU Lun2. Path planning based on semantic information in virtual environment [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2011, 41(4): 106-112.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] LI Kan . Empolder and implement of the embedded weld control system[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2008, 38(4): 37 -41 .
[2] LAI Xiang . The global domain of attraction for a kind of MKdV equations[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 87 -92 .
[3] YU Jia yuan1, TIAN Jin ting1, ZHU Qiang zhong2. Computational intelligence and its application in psychology[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 1 -5 .
[4] CHEN Rui, LI Hongwei, TIAN Jing. The relationship between the number of magnetic poles and the bearing capacity of radial magnetic bearing[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(2): 81 -85 .
[5] WANG Bo,WANG Ning-sheng . Automatic generation and combinatory optimization of disassembly sequence for mechanical-electric assembly[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 52 -57 .
[6] ZHANG Ying,LANG Yongmei,ZHAO Yuxiao,ZHANG Jianda,QIAO Peng,LI Shanping . Research on technique of aerobic granular sludge cultivationby seeding EGSB anaerobic granular sludge[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(4): 56 -59 .
[7] Yue Khing Toh1， XIAO Wendong2， XIE Lihua1. Wireless sensor network for distributed target tracking: practices via real test bed development[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 50 -56 .
[8] SUN Weiwei， WANG Yuzhen. Finite gain stabilization of singlemachine infinite bus system subject to saturation[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 69 -76 .
[9] HAO Ranhang,CHEN Shouyu . The theory, model and method of water resources evaluationombining quantity with quality[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(3): 46 -50 .
[10] SUN Yu-li,LI De-fa,ZUO Dun-wen,QI mei . [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(6): 19 -23 .
Copyright 2018 © Editorial office of Journal of Shandong University (Engineering Science)
Supported by Beijing Magtech Co.Ltd