On-line precision control of CFETR multipurpose overload robot using deformation model

doi:10.1016/j.fusengdes.2021.112967

	On-line precision control of CFETR multipurpose overload robot using deformation model
	Yao, Zhixin 1,2,3; Wu, Huapeng 1,3; Yang, Yang 1; Cheng, Yong 1,2; Pan, Hongtao 1; Zhang, Tao 4; Yin, Ruochen 1,2,3
刊名	FUSION ENGINEERING AND DESIGN
	2022
卷号	174
关键词	CMOR Online precision control Deformation model BPNN
ISSN号	0920-3796
DOI	10.1016/j.fusengdes.2021.112967
通讯作者	Cheng, Yong(chengyong@ipp.ac.cn)
英文摘要	The China Fusion Engineering Test Reactor (CFETR) multipurpose overload robot (CMOR) is an important part of the CFETR remote handling (RH) system. It is a type of serial robot with a redundant degree of freedom and heavy loads. Due to its long cantilever and heavy load, the deformation is large during operation. However, the deformation of the CMOR in the RH application cannot be ignored. In this paper, an online precision control algorithm using a deformation model is presented. Using this algorithm, the deformations of the CMOR at a limited number of positions are calculated by finite element analysis and used as training datasets. The joint parameters and loads are used as inputs, and the actual position of the CMOR is the output of the Back Prop-agation Neural Network (BPNN). The deformation model is trained by the BPNN offline, which can calculate the actual position in the workspace. The deformation of the CMOR can be accurately obtained and rapidly compensated to realize online precision control. During the RH operation in the CFETR, the deformation was updated to 2 Hz and the precision control accuracy was up to 5 mm.
资助项目	Comprehensive Research Facility for Fusion Technology Program of China[2018-000052-73-01-001228]
WOS关键词	CONCEPT DESIGN ; MAINTENANCE
WOS研究方向	Nuclear Science & Technology
语种	英语
出版者	ELSEVIER SCIENCE SA
WOS记录号	WOS:000784324000002
资助机构	Comprehensive Research Facility for Fusion Technology Program of China
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/128477]
专题	中国科学院合肥物质科学研究院
通讯作者	Cheng, Yong
作者单位	1.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Plasma Phys, Hefei 230031, Peoples R China 2.Univ Sci & Technol China, Hefei 230026, Peoples R China 3.Lappeenranta Univ Technol, Lappeenranta, Finland 4.Hefei Univ Technol, Sch Mech Engn, Hefei 230031, Peoples R China
推荐引用方式 GB/T 7714	Yao, Zhixin,Wu, Huapeng,Yang, Yang,et al. On-line precision control of CFETR multipurpose overload robot using deformation model[J]. FUSION ENGINEERING AND DESIGN,2022,174.
APA	Yao, Zhixin.,Wu, Huapeng.,Yang, Yang.,Cheng, Yong.,Pan, Hongtao.,...&Yin, Ruochen.(2022).On-line precision control of CFETR multipurpose overload robot using deformation model.FUSION ENGINEERING AND DESIGN,174.
MLA	Yao, Zhixin,et al."On-line precision control of CFETR multipurpose overload robot using deformation model".FUSION ENGINEERING AND DESIGN 174(2022).