Research Of Maintenance & Inspection Robot In Nuclear Power Plants Motion Control Based On Fuzzy Logic

Maintenance & Inspection Robot(MIR) in nuclear power plants's motion control based fuzzy logic is described in this paper.Firstly,a brief account of the nuclear power plant maintenance robot application background,practical significance,the analysis of the nuclear power plant maintenance robot kinematics,includes track-type mobile platform movement model and 3 degrees of freedom(dof) manipulator kinematics model. Then,on that basis,respectively,made use of fuzzy neural network approach to the mobile platform for motion control,the use of fuzzy logic approach to 3 dof manipulator motion control and to verify the proposed approach is effective and feasible based on fuzzy neural networks and fuzzy logic of the experimental method;Finally,the use of virtual reality modeling language on the environment,nuclear power has been Robot to carry out three-dimensional modeling and use of the VRML and JAVA interface EAI virtual scene simulation control.In the end,after summing up the whole paper,it is prospect the further research on the topic.