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

Feng Yang; Haihua Huang; Yanzheng Chen; Weiming Li; Quanbin Lai; Rui Ma; Binxuan Sun; Xingguang Duan

doi:10.1007/978-3-031-13835-5_54

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

Feng Yang, Haihua Huang, Yanzheng Chen, Weiming Li, Quanbin Lai^*, Rui Ma, Binxuan Sun, Xingguang Duan

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings
Editors	Honghai Liu, Weihong Ren, Zhouping Yin, Lianqing Liu, Li Jiang, Guoying Gu, Xinyu Wu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	595-603
Number of pages	9
ISBN (Print)	9783031138348
DOIs	https://doi.org/10.1007/978-3-031-13835-5_54
Publication status	Published - 2022
Event	15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 - Harbin, China Duration: 1 Aug 2022 → 3 Aug 2022

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	13457 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	15th International Conference on Intelligent Robotics and Applications, ICIRA 2022
Country/Territory	China
City	Harbin
Period	1/08/22 → 3/08/22

Keywords

Master-Slave control
Nuclear robot
Remote maintenance

Access to Document

10.1007/978-3-031-13835-5_54

Cite this

Yang, F., Huang, H., Chen, Y., Li, W., Lai, Q., Ma, R., Sun, B., & Duan, X. (2022). Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios. In H. Liu, W. Ren, Z. Yin, L. Liu, L. Jiang, G. Gu, & X. Wu (Eds.), Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings (pp. 595-603). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13457 LNAI). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-031-13835-5_54

Yang, Feng ; Huang, Haihua ; Chen, Yanzheng et al. / Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios. Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. editor / Honghai Liu ; Weihong Ren ; Zhouping Yin ; Lianqing Liu ; Li Jiang ; Guoying Gu ; Xinyu Wu. Springer Science and Business Media Deutschland GmbH, 2022. pp. 595-603 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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abstract = "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{\textquoteright}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.",

keywords = "Master-Slave control, Nuclear robot, Remote maintenance",

author = "Feng Yang and Haihua Huang and Yanzheng Chen and Weiming Li and Quanbin Lai and Rui Ma and Binxuan Sun and Xingguang Duan",

note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 ; Conference date: 01-08-2022 Through 03-08-2022",

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editor = "Honghai Liu and Weihong Ren and Zhouping Yin and Lianqing Liu and Li Jiang and Guoying Gu and Xinyu Wu",

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Yang, F, Huang, H, Chen, Y, Li, W, Lai, Q, Ma, R, Sun, B & Duan, X 2022, Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios. in H Liu, W Ren, Z Yin, L Liu, L Jiang, G Gu & X Wu (eds), Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 13457 LNAI, Springer Science and Business Media Deutschland GmbH, pp. 595-603, 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022, Harbin, China, 1/08/22. https://doi.org/10.1007/978-3-031-13835-5_54

Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios. / Yang, Feng; Huang, Haihua; Chen, Yanzheng et al.
Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. ed. / Honghai Liu; Weihong Ren; Zhouping Yin; Lianqing Liu; Li Jiang; Guoying Gu; Xinyu Wu. Springer Science and Business Media Deutschland GmbH, 2022. p. 595-603 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 13457 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios

AU - Yang, Feng

AU - Huang, Haihua

AU - Chen, Yanzheng

AU - Li, Weiming

AU - Lai, Quanbin

AU - Ma, Rui

AU - Sun, Binxuan

AU - Duan, Xingguang

PY - 2022

Y1 - 2022

N2 - 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.

AB - 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.

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DO - 10.1007/978-3-031-13835-5_54

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AN - SCOPUS:85136110303

SN - 9783031138348

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 595

EP - 603

BT - Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings

A2 - Liu, Honghai

A2 - Ren, Weihong

A2 - Yin, Zhouping

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PB - Springer Science and Business Media Deutschland GmbH

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Yang F, Huang H, Chen Y, Li W, Lai Q, Ma R et al. Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios. In Liu H, Ren W, Yin Z, Liu L, Jiang L, Gu G, Wu X, editors, Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings. Springer Science and Business Media Deutschland GmbH. 2022. p. 595-603. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-031-13835-5_54