Speaker
Huapeng Wu
(Lappeenranta university of technology)
Description
The EAMA robot is a long slender arm for tokamak inspection and maintenance. In such conditions, grasp techniques ignoring or trying to avoid contact with the components of the vacuum chamber brings bottlenecks on the system control. During the grasping and releasing objects the contact with vacuum chamber is a critical condition for providing robust and achievable solutions of robot control. In this paper, a kinematic model for motion coordination and control of EAMA system is derived, which calculate the object pose from the joint variables of each link from a suitable set of contact variables. This interactive, compliant primitive grasping is reached by a series of position-force combined pre-grasping, landing and post-grasping strategy of EAMA placement. This model is adopted to design a control scheme to achieve a desired target motion and keep desired contact forces applied to the object in order to preserve safety. The results demonstrate effectiveness and robustness of simulation study case for the proposed application.
Co-authors
Hongtao Pan
(Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd, China)
Huapeng Wu
(Lappeenranta university of technology, Skinnarilankatu 34, Lappeenranta, Finland)
Jing Wu
(Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd, China;Lappeenranta university of technology, Skinnarilankatu 34, Lappeenranta, Finland)
Yu Zhang
(Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd, China)
Yuntao Song
(Institute of Plasma Physics Chinese Academy of Sciences, 350 Shushanhu Rd, China)
