TY - GEN
T1 - Remote Robotic System for Thermocouple Maintenance Tasks in Nuclear Power Plants
AU - Lai, Quanbin
AU - Ma, Rui
AU - Huang, Haihua
AU - Li, Weiming
AU - Duan, Xingguang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Aiming at the task of repairing damaged thermocouple fasteners (Swagelok fittings) in nuclear power plants, we design a remote robotic maintenance system to complete in this paper. Based on the complex environment in which the thermocouples are located, we design the dedicated end effectors and tool changer system and develop a detailed workflow to complete the repair task. Then, in order to ensure that the operator can intuitively control the manipulator remotely, we investigated the master slave control algorithm to ensure that the manipulator can correctly follow the motion of the master hand so that the motion of manipulator matches the operator's expectations. In addition, due to the limited view when operating remotely, we have built a 3D virtual display platform in the upper computer to further enhance the operator's intuition and ensure the safety of the operation. Finally, we use a damaged Swagelok fitting connector as an example to verify the effectiveness of control strategies and our system.
AB - Aiming at the task of repairing damaged thermocouple fasteners (Swagelok fittings) in nuclear power plants, we design a remote robotic maintenance system to complete in this paper. Based on the complex environment in which the thermocouples are located, we design the dedicated end effectors and tool changer system and develop a detailed workflow to complete the repair task. Then, in order to ensure that the operator can intuitively control the manipulator remotely, we investigated the master slave control algorithm to ensure that the manipulator can correctly follow the motion of the master hand so that the motion of manipulator matches the operator's expectations. In addition, due to the limited view when operating remotely, we have built a 3D virtual display platform in the upper computer to further enhance the operator's intuition and ensure the safety of the operation. Finally, we use a damaged Swagelok fitting connector as an example to verify the effectiveness of control strategies and our system.
UR - http://www.scopus.com/inward/record.url?scp=85171575468&partnerID=8YFLogxK
U2 - 10.1109/ICARM58088.2023.10218856
DO - 10.1109/ICARM58088.2023.10218856
M3 - Conference contribution
AN - SCOPUS:85171575468
T3 - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
SP - 1041
EP - 1046
BT - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
Y2 - 8 July 2023 through 10 July 2023
ER -