基于三维模型的6自由度机械臂反应堆压力容器无损扫描

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2022-11-08 DOI:10.1109/SSRR56537.2022.10018751

Goran Vasiljević, Vedran Brkić, Zeljko Postruzin, Z. Kovačić

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引用次数: 0

摘要

本文提出了一种反应堆压力容器无损检测系统的扫描规划方法。该系统由一个悬挂在RPV顶部电缆上的中央机舱组成。中央吊舱支撑两个6自由度(6- dof)的机械臂，可配备各种工具进行无损检测。我们提出了一种基于已知的RPV三维模型计算2参数扫描路径的方法。在此基础上，提出了一种计算机械臂关节空间可行轨迹的方法。该方法在仿真和实物系统上进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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3D Model-Based Nondestructive Scanning of Reactor Pressure Vessels with 6DoF Robotic Arms

In this paper, we present a method for scan planning of a system for nondestructive testing of reactor pressure vessels (RPVs). The system consists of a central nacelle hanging on the cables from the top of the RPV. The central nacelle supports two robotic arms with 6 degrees of freedom (6-DoF), which can be equipped with various tools for nondestructive testing. We present a method for calculating a 2-parameter scan path based on the known 3D model of the RPV. We also present a method for calculating a feasible trajectory in the joint space of a robotic arm based on the calculated path. The method is tested both in simulation and on the mockup system.

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来源期刊

2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

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