Tokamak In-vessel Inspection Robot Human Interaction System Design And Trajectory Planning Research

Tokamak device is a superconducting tokamak that can producelarge-scale fusion reaction.It is not only a key step of controlled nuclearfusion research in our move towards practical, but also one of the importantmeans to achieve sustainable energy development. Due to the temperature,high vacuum and strong radiation environment impact, to protect theoperators’ safety, the maintenance of the tokamak device must be completedby the robots. However, completely autonomous robot will not be possiblewith current technology, so the research of the local autonomous teleoperationsystem involving people is of great important, which can realize complexoperations under human unreachable extreme environment such as hightemperature, high vacuum and strong radiation. In order to realize efficientdetection for the tokamak, we need to design a human interaction system forthe flexible in-vessel inspetion robot, to ensure the completion of inspectiontasks while reducing operational burden and improving work efficiency.This paper mainly focuses on the human interaction sytem designproblem of Tokamak flexible in-vessel inspection robot, and presents a complete system design from the mission planning to simulation, distributedto the task. The designing of sytem uses the virtual reality technologycombined with real-time video feedback information, to improve thetransparency and telepresence of the teleoperation, and solve the problem ofthe front camera vision limitation and time delay. Thus, operators can accessto current working state and position of the flexible in-vessel inspection robotand avoid collision between the robot and tokamak by using the real-timevision feedback information and the simulated virtual robot. At the same time,the virtual simulation platform also provides task forecast simulationfunction,which can predict the planning results, greatlyimprove the security ofthe system and find the abnormal situation in a timely manner under theoff-line control mode.Moreover, in order to improve the efficiency, the paperpresents a variety of operating modes for different mission objectives. So thatthe system can remote control the flexible in-vessel inspection robotautomatically complete the detection of the tokamak.By using the defaultimage processing algorithms, the system can automatically determine thedamaged area of the first wall, greatly reducing the work pressure of theoperators. The main content is summarized as bellow:1.For the diversity of teleoperaion task, the complexity of the workenviroment and the new redundant mechanical design of the flexible in-vessel inspection robot, complete the design of sytem structure, function mode andcontrol mode of the human interaction system. In the HMI sytem, study thetask oriented local autonomous robot control method, and realize the manual,semiautomatic and automatic control mode, to improve the efficiency of thehuman maching interactive system.2.Establish motion model for the flexible in-vessel inspection robot,andget the robot coordinate system and D-H link parameters to deduce thekinematics and inverse kinematics of the flexible in-vessel inspection robot.3.For the characteristics of the flexible in-vessel inspection robot andinner structure of the tokamka chamber, study the continuous trajectoryplanning in the task space and joint space, and propose a time and jerkoptimal trajectory planning algorithm.4.The experiment and simulation results verify the effectiveness of theproposed teleoperated human-computer interaction system.