@inproceedings{80180fafc5ca4fa0b41ba3addc0c86c0,
title = "Research and Verification of Robot Master-Slave Control Algorithm for Nuclear Power Maintenance Scenarios",
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",
year = "2022",
doi = "10.1007/978-3-031-13835-5_54",
language = "English",
isbn = "9783031138348",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "595--603",
editor = "Honghai Liu and Weihong Ren and Zhouping Yin and Lianqing Liu and Li Jiang and Guoying Gu and Xinyu Wu",
booktitle = "Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings",
address = "Germany",
}