Position error compensation of the multi-purpose overload robot in nuclear power plants
| Autor: | Yuntao Song, Guodong Qin, Shanshuang Shi, Yong Cheng, Pan Hongtao, Aihong Ji, Wenlong Zhao |
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| Rok vydání: | 2021 |
| Předmět: |
Coupling
Parameter identification Computer science 020209 energy TK9001-9401 02 engineering and technology Kinematics Grid 030218 nuclear medicine & medical imaging Compensation (engineering) Multi-purpose overload robot 03 medical and health sciences Variable (computer science) 0302 clinical medicine Nuclear Energy and Engineering Position (vector) Control theory 0202 electrical engineering electronic engineering information engineering Trajectory Nuclear engineering. Atomic power Robot Levenberg-marquardt Remote handling system |
| Zdroj: | Nuclear Engineering and Technology, Vol 53, Iss 8, Pp 2708-2715 (2021) |
| ISSN: | 1738-5733 |
| Popis: | The Multi-Purpose Overload Robot (CMOR) is a key subsystem of China Fusion Engineering Test Reactor (CFETR) remote handling system. Due to the long cantilever and large loads of the CMOR, it has a large rigid-flexible coupling deformation that results in a poor position accuracy of the end-effector. In this study, based on the Levenberg-Marquardt algorithm, the spatial grid, and the linearized variable load principle, a variable parameter compensation model was designed to identify the parameters of the CMOR's kinematics models under different loads and at different poses so as to improve the trajectory tracking accuracy. Finally, through Adams-MATLAB/Simulink, the trajectory tracking accuracy of the CMOR's rigid-flexible coupling model was analyzed, and the end position error exceeded 0.1 m. After the variable parameter compensation model, the average position error of the end-effector became less than 0.02 m, which provides a reference for CMOR error compensation. |
| Databáze: | OpenAIRE |
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