Manipulation robot system based on visual guidance for sealing blocking plate of steam generator

Duan, Xingguang; Wang, Yonggui; Liu, Qingsong; Li, Meng; Kong, Xiangzhan

doi:10.1080/00223131.2015.1037807

Cited by 7 publications

(4 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In one recent nuclear industry example, a monocular vision system is used to control a manipulator to fasten bolts onto a sealing plate for a steam generator [20]. The robot operates by having a camera locate bolts around the plate and subsequently moving to fasten these to a set torque value.…”

Section: Challenges In a Nuclear Environmentmentioning

confidence: 99%

Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments

et al. 2019

View full text Add to dashboard Cite

This article investigates visual servoing for a hydraulically actuated dual-arm robot, in which the user selects the object of interest from an on-screen image, whilst the computer control system implements via feedback control the required position and orientation of the manipulators.To improve on the current joystick direct tele-operation commonly used as standard in the nuclear industry, which is slow and requires extensive operator training, the proposed assisted tele-operation makes use of a single camera mounted on the robot. Focusing on pipe cutting as an example, the new system ensures that one manipulator automatically grasps the user-selected pipe, and appropriately positions the second for a cutting operation. Initial laboratory testing (using a plastic pipe) shows the efficacy of the approach for positioning the manipulators, and suggests that for both experienced and inexperienced users, the task is completed significantly faster than via tele-operation.

show abstract

Section: Challenges In a Nuclear Environmentmentioning

confidence: 99%

Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments

et al. 2019

View full text Add to dashboard Cite

show abstract

“…Automatic fastening assembly using a robot undoubtedly is an appropriate solution. Some studies [5][6][7][8][9] applied a commercial 6R industrial robot to integrate the assembly systems for the fastener installation by developing the end-effector, using visual or force-sensing sensors that are mainly used for external assembly operations. Others [10][11][12][13] developed a Cartesian linear robot or SCARA robotic system for the installation of bolts and screws, which are also fit for the external fastening occasion.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application

Jiang

You

2023

Machines

View full text Add to dashboard Cite

At present, the fastener installation in a wingbox facing a narrow space must be performed manually. Using a robot is an appropriate solution for automatic assembly. However, the existing robots cannot meet the internal fastening requirements. A new robot with a prismatic joint and four revolute joints (1P4R) was developed to perform the positioning and operation in the wingbox. A compact arm link was designed, and mechanical frame structures were set up. The control system was also set up for the robot’s motion. Then, the forward kinematic model was carried out with the matrix transformation method, and in the analysis the workspace entirely covered the wingbox. The inverse kinematic model was established using the geometric method, and through calculation and simulation, the inverse kinematic equations were verified and refined.

show abstract

“…Although prevalent in many other industries, vision systems are rare in the nuclear industry, except for those used simply to allow for remote teleoperation. In one recent example, a monocular vision system is used to control a manipulator to fasten bolts onto a sealing plate for a steam generator [8]. The robot operates by having a camera locate bolts around the plate and subsequently moving to fasten these to a set torque value.…”

Section: Introductionmentioning

confidence: 99%

A Vision-Based Positioning System with Inverse Dead-Zone Control for Dual-Hydraulic Manipulators

West

Monk

Montazeri

et al. 2018

2018 UKACC 12th International Conference on Control (CONTROL)

View full text Add to dashboard Cite

The robotic platform in this study is being used for research into assisted tele-operation for common nuclear decommissioning tasks, such as remote pipe cutting. It has dual, seven-function, hydraulically actuated manipulators mounted on a mobile base unit. For the new visual servoing system, the user selects an object from an on-screen image, whilst the computer control system determines the required position and orientation of the manipulators; and controls the joint angles for one of these to grasp the pipe and the second to position for a cut. Preliminary testing shows that the new system reduces task completion time for both inexperienced and experienced operators, in comparison to tele-operation. In a second contribution, a novel state-dependent parameter (SDP) control system is developed, for improved resolved motion of the manipulators. Compared to earlier SDP analysis of the same device, which used a rather ad hoc scaling method to address the dead-zone, a state-dependent gain is used to implement inverse dead-zone control. The new approach integrates input signal calibration, system identification and nonlinear control design, allowing for straightforward recalibration when the dynamic characteristics have changed or the actuators have deteriorated due to age.

show abstract

Manipulation robot system based on visual guidance for sealing blocking plate of steam generator

Cited by 7 publications

References 10 publications

Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments

Vision-Based Assisted Tele-Operation of a Dual-Arm Hydraulically Actuated Robot for Pipe Cutting and Grasping in Nuclear Environments

Kinematic Modeling and Simulation of a New Robot for Wingbox Internal Fastening Application

A Vision-Based Positioning System with Inverse Dead-Zone Control for Dual-Hydraulic Manipulators

Contact Info

Product

Resources

About