The Motion Control Technology Research In Tele-Operate Fusion Reactor Robot

As a kind of unlimited,clean and safe new energy,fusion energy is the world's most important way to solve the energy problem.The life of the reactor is generally long,it needs to be maintenanced and repaired during the operation besides,it need to demolished and replaced some old equipment and assembled some of the new equipment,because of the thermonuclear reactor internal environment is not suitable for human work inside,teleoperation system required to complete this part of the work.This paper focuses on analyzes the motion control of the slave manipulator of the teleoperation robot system.It has given the analysis of the kinematics,dynamics,trajectory planning and motion control of the manipulator,what's more,the off-line simulation interactive system and experiment platform of the robot is builded.Firstly,analysis the kinematics of the fusion reactors robot.introduced the system of the robot briefly,the kinematic model is established by the D-H method and the parameters of the D-H method is given,and the direct kinematic problem is analyzed by D-H method,based on the forward kinematics,it has given the worksplace of the robot with using the Monte Carlo method,combining the specific configuration of the robot,the workspace of the robot is simulated in the MATLAB.It has introducted some method of Jacobian matrix,and with the jacobian method,it has solved the inverse kinematics problem with using damping least squares method,completed the kinematics analysis of the robot.Secondly,the dynamics of the fusion reators robot is analyzed.Robot dynamic equations obtained based on Lagrange equation,and given a simplified form with Jacobian matrix in it.According to the specific configuration of the fusion reactor robot,it has given the dynamics parameters,which has provided a theoretical basis of the offline control simulation.Thirdly,competed the trajectory planning of the fusion reactors robot.In the process of trajectory planning in the Cartesian space,using the WLN method to achieve a secondary correction method to aviod the joint limits.The singularity of the robot was analyzed and the solution of the singularity is given;and in the process of the trajectory planning of the robot in the joint space,has introduced the five cubic polynomial interpolation and polynomial interpolation method clearly.Finally,has given the simulation results in the MATLAB,and proved the trajectory planing is feasibility.In addition,completed the gravity-based compensation systems do PID control for dynamic simulation with using ADAMS and MATLAB.To made a preliminary discussion of the consider implementing the robot dynamics simulation method for dynamic control of factors.Finally,the interactive systems of the fusion reactor robot is built and the simulation of the virtual manipulator and experiment are accomplished,and the results of the simulation and experiment proved the kinematics and dynamics analysis is correct and trajectory planning of the robot is reasonable.