Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix | |
Zuo, Congju3,4,5; Qin, Guodong5; Wan, Chenhui1; Pan, Hongtao5; Xia, Liang3; Zhou, Pucheng3; Qin, Xiaoyan3; Shi, Ning3; Lu, Leiji3; Zhao, Ruijuan3 | |
刊名 | FUSION ENGINEERING AND DESIGN |
2023-11-01 | |
卷号 | 196 |
关键词 | CFETR Multipurpose overload robot Adaptive motion planning Iterative tractrix Special environment application |
ISSN号 | 0920-3796 |
DOI | 10.1016/j.fusengdes.2023.113988 |
通讯作者 | Wang, Weihua(whwang@ipp.ac.cn) ; Cheng, Yong(chengyong@ipp.ac.cn) |
英文摘要 | In this paper, an adaptive motion planning method is proposed for the control requirements of the China Fusion Engineering Test Reactor multipurpose overload robot (CMOR). Firstly, a kinematic model of CMOR is established by Denavit-Hartenberg method, and the working process of entering and leaving the vacuum chamber to complete the maintenance operation is analyzed. An iterative tractrix-based motion planning method is proposed by expanding the basic principle of tractrix. Assuming that the CMOR any link has two mutually perpendicular degrees of freedom to achieve spatial motion capability, a more natural and smooth movement of the CMOR is achieved by recursive operations on the tractrix traction. To accelerate the calculation process and avoid each joint rotation angle of CMOR exceeding the set value, a bidirectional iterative tractrix method and a joint limit rotation angle optimization method based on the bidirectional iterative tractrix method are proposed to improve the convergence speed and motion safety. Finally, a CMOR visualization simulation system is built, and the results show that the CMOR adaptive motion planning method can effectively track the target trajectory and avoid joint rotation angle overrun. |
资助项目 | National Natural Science Foundation of China[12305251] ; National Natural Science Foundation of China[11905147] ; Comprehensive Research Facility for Fusion Technology Program of China[2018-000052-73-01-001228] |
WOS关键词 | INVERSE KINEMATICS ; MAINTENANCE |
WOS研究方向 | Nuclear Science & Technology |
语种 | 英语 |
出版者 | ELSEVIER SCIENCE SA |
WOS记录号 | WOS:001078386700001 |
资助机构 | National Natural Science Foundation of China ; Comprehensive Research Facility for Fusion Technology Program of China |
内容类型 | 期刊论文 |
源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/133438] |
专题 | 中国科学院合肥物质科学研究院 |
通讯作者 | Wang, Weihua; Cheng, Yong |
作者单位 | 1.Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, Wuhan 430074, Peoples R China 2.Anhui Univ, Inst Phys Sci & Informat Technol, Hefei 230031, Peoples R China 3.Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R China 4.Univ Sci & Technol China, Hefei 230026, Peoples R China 5.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China |
推荐引用方式 GB/T 7714 | Zuo, Congju,Qin, Guodong,Wan, Chenhui,et al. Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix[J]. FUSION ENGINEERING AND DESIGN,2023,196. |
APA | Zuo, Congju.,Qin, Guodong.,Wan, Chenhui.,Pan, Hongtao.,Xia, Liang.,...&Cheng, Yong.(2023).Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix.FUSION ENGINEERING AND DESIGN,196. |
MLA | Zuo, Congju,et al."Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix".FUSION ENGINEERING AND DESIGN 196(2023). |
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