| The TOKMAK is an annular vacuum vessel which is used to control the high-temperature plasma by magnetic confinement.With the high-temperature?120??,vacuum(10-5Pa),high-radiation reaction environment,the maintenance for the vessel hangs on robotics system.According to the scanning job for the irregular appearance of the TOKMAK vessel,this paper discusses a control system of the 10-dof flexible in-vessel inspection robot,which is tested and verified with a 1:1 model vessel.Firstly,this paper summarizes the research actualities about the maintenance project for the TOKAMAK,and proposes a plan whose kernel is an industrial embedded processor called MAESTROE,which including 3d mouse control mode,UI control mode and rescue mode,and based on this,the hardware structure is constructed.We build the kinematics models and DH coordinates to establish the solutions for the forward and inverse kinematics for the base part,big arm part and small arm part,and use a method which plans the trajectory on the driver space by the points picked on the workspace to realize the inspection on a D-shape section of the TOKMAK.After that,the overall software framework of the control system is discussed,which confirms parts of the operation mode,including the in and out of the vessel mode,manual control mode,automatic control mode,half-automatic control mode and so on.At last,according to the problems of pose errors when using long-length arm,a track adjustment method is put forward to obtain better scanning result.At last,this paper presents the enter-vessel and scanning experiment which verifies the effectiveness of this designed system. |
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