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Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix

文献类型：期刊论文

作者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
出版日期2023-11-01
卷号196
ISSN号0920-3796
关键词CFETR Multipurpose overload robot Adaptive motion planning Iterative tractrix Special environment application
DOI10.1016/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.
WOS关键词INVERSE KINEMATICS ; MAINTENANCE
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
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).

入库方式： OAI收割

来源：合肥物质科学研究院

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