| Autor: |
Haibo Gao, Changyou Ma, Liang Ding, Haitao Yu, Kerui Xia, Hongjun Xing, Zongquan Deng |
| Jazyk: |
angličtina |
| Rok vydání: |
2019 |
| Předmět: |
|
| Zdroj: |
IEEE Access, Vol 7, Pp 80916-80927 (2019) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2019.2919964 |
| Popis: |
Door-opening is a critical problem for robots used for rescue purposes in nuclear power plants (NPPs). A force and torque (F/T) sensor is not used in the rescue task for door-opening in the NPPs environment. It is, therefore, necessary to study the dynamic model of door-opening. The NPPs door and a door handle dynamic model are significant to the mechanical design, simulation, and dynamic feed-forward control of an NPP robot. To obtain the accurate force data of door-opening, a method based on a gravity compensation algorithm combined with a transformation of the contact force of the end effector is proposed. This paper analyzes the structural features and dynamics model of a fire door and a door handle. Methods for identifying the model parameters are also developed by combining a Nelder-Mead simplex search with the least-squares algorithm. The extensive door-opening experiments were carried out in this paper, and the results validate the fidelity of the derived dynamic models of the door and the door handle. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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