Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix

doi:10.1016/j.fusengdes.2023.113988

	Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix
	Zuo, Congju 3,4,5; Qin, Guodong 5; Wan, Chenhui 1; Pan, Hongtao 5; Xia, Liang 3; Zhou, Pucheng 3; Qin, Xiaoyan 3; Shi, Ning 3; Lu, Leiji 3; Zhao, Ruijuan 3
刊名	FUSION ENGINEERING AND DESIGN
	2023-11-01
卷号	196
关键词	CFETR Multipurpose overload robot Adaptive motion planning Iterative tractrix Special environment application
ISSN号	0920-3796
DOI	10.1016/j.fusengdes.2023.113988
通讯作者	Wang, Weihua(whwang@ipp.ac.cn) ; Cheng, Yong(chengyong@ipp.ac.cn)
英文摘要	In this paper, an adaptive motion planning method is proposed for the control requirements of the China Fusion Engineering Test Reactor multipurpose overload robot (CMOR). Firstly, a kinematic model of CMOR is established by Denavit-Hartenberg method, and the working process of entering and leaving the vacuum chamber to complete the maintenance operation is analyzed. An iterative tractrix-based motion planning method is proposed by expanding the basic principle of tractrix. Assuming that the CMOR any link has two mutually perpendicular degrees of freedom to achieve spatial motion capability, a more natural and smooth movement of the CMOR is achieved by recursive operations on the tractrix traction. To accelerate the calculation process and avoid each joint rotation angle of CMOR exceeding the set value, a bidirectional iterative tractrix method and a joint limit rotation angle optimization method based on the bidirectional iterative tractrix method are proposed to improve the convergence speed and motion safety. Finally, a CMOR visualization simulation system is built, and the results show that the CMOR adaptive motion planning method can effectively track the target trajectory and avoid joint rotation angle overrun.
资助项目	National Natural Science Foundation of China[12305251] ; National Natural Science Foundation of China[11905147] ; Comprehensive Research Facility for Fusion Technology Program of China[2018-000052-73-01-001228]
WOS关键词	INVERSE KINEMATICS ; MAINTENANCE
WOS研究方向	Nuclear Science & Technology
语种	英语
出版者	ELSEVIER SCIENCE SA
WOS记录号	WOS:001078386700001
资助机构	National Natural Science Foundation of China ; 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/334002/133438]
专题	中国科学院合肥物质科学研究院
通讯作者	Wang, Weihua; Cheng, Yong
作者单位	1.Huazhong Univ Sci & Technol, Sch Mech Sci & Engn, Wuhan 430074, Peoples R China 2.Anhui Univ, Inst Phys Sci & Informat Technol, Hefei 230031, Peoples R China 3.Army Acad Artillery & Air Def, Dept Informat Engn, Hefei 230031, Peoples R China 4.Univ Sci & Technol China, Hefei 230026, Peoples R China 5.Chinese Acad Sci, Inst Plasma Phys, Hefei 230031, Peoples R China
推荐引用方式 GB/T 7714	Zuo, Congju,Qin, Guodong,Wan, Chenhui,et al. Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix[J]. FUSION ENGINEERING AND DESIGN,2023,196.
APA	Zuo, Congju.,Qin, Guodong.,Wan, Chenhui.,Pan, Hongtao.,Xia, Liang.,...&Cheng, Yong.(2023).Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix.FUSION ENGINEERING AND DESIGN,196.
MLA	Zuo, Congju,et al."Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix".FUSION ENGINEERING AND DESIGN 196(2023).