Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA)

doi:10.1016/j.fusengdes.2017.04.054

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	Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA)
	Wang, Kun 1,2,3; Song, Yuntao 1,3; Wu, Huapeng 2; Wei, Xiaoyang 1; Khan, Shahab Ud-Din 1; Cheng, Yong 1
刊名	FUSION ENGINEERING AND DESIGN
	2017-06-01
卷号	119 期号:无页码:1-11
关键词	Redundant Inverse Kinematics Otpp Midfs Eama Remote Handing Redundant Manipulator
DOI	10.1016/j.fusengdes.2017.04.054
文献子类	Article
英文摘要	This paper proposed a new method for solving inverse kinematics (IK) of a redundant manipulator called EAST Articulated Maintenance Arm (EAMA), which is applied in the fusion reactor EAST (Experimental Advanced Superconducting Tokamak) and used to complete some maintenance tasks in the complex areas. However, it is difficult to realize remote control due to its redundancy, coupling structure and the complex operational environment. The IK research of the robot played a vital role to the manipulator's motion control algorithm of remote handling (RH) technology. An Obstacle Topology Partition Projection (OTPP) approach integrated with Modified Inverse Depth First Search (MIDFS) method was presented. This is a kind of new geometric algorithm in order to solve the problem of IK for a high-redundancy manipulator. It can also be used to find a solution satisfying collision avoidance with optimal safety distance between the manipulator and obstacles. Simulations and experiments were conducted to demonstrate the efficiency and accuracy of the proposed method. (C) 2017 Elsevier B.V. All rights reserved.
WOS关键词	REDUNDANT ; MANIPULATORS ; SYSTEM
WOS研究方向	Nuclear Science & Technology
语种	英语
WOS记录号	WOS:000401886000001
资助机构	China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003) ; China National Special Project(2014GB101003)
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/31836]
专题	合肥物质科学研究院_中科院等离子体物理研究所
作者单位	1.Chinese Acad Sci, Inst Plasma Phys, Hefei, Peoples R China 2.Lappeenranta Univ Technol, Lappeenranta, Finland 3.Univ Sci & Technol China, Hefei, Peoples R China
推荐引用方式 GB/T 7714	Wang, Kun,Song, Yuntao,Wu, Huapeng,et al. Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA)[J]. FUSION ENGINEERING AND DESIGN,2017,119(无):1-11.
APA	Wang, Kun,Song, Yuntao,Wu, Huapeng,Wei, Xiaoyang,Khan, Shahab Ud-Din,&Cheng, Yong.(2017).Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA).FUSION ENGINEERING AND DESIGN,119(无),1-11.
MLA	Wang, Kun,et al."Inverse kinematics research using obstacle avoidance geometry method for EAST Articulated Maintenance Arm (EAMA)".FUSION ENGINEERING AND DESIGN 119.无(2017):1-11.