Research on Space Mapping Control Algorithm of Master-slave Equipment in Teleoperation Mode of Underwater Robot

Yang Junhao; Wang Bingyan; Yu Zhiwei; Pu Yaozhou; Li Hao; Chen Qian; Ma Shanlin

doi:10.13832/j.jnpe.2023.01.0204

Volume 44 Issue 1

Feb. 2023

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Article Navigation > Nuclear Power Engineering > 2023 > 44(1): 204-209

Yang Junhao, Wang Bingyan, Yu Zhiwei, Pu Yaozhou, Li Hao, Chen Qian, Ma Shanlin. Research on Space Mapping Control Algorithm of Master-slave Equipment in Teleoperation Mode of Underwater Robot[J]. Nuclear Power Engineering, 2023, 44(1): 204-209. doi: 10.13832/j.jnpe.2023.01.0204

Citation:

Yang Junhao, Wang Bingyan, Yu Zhiwei, Pu Yaozhou, Li Hao, Chen Qian, Ma Shanlin. Research on Space Mapping Control Algorithm of Master-slave Equipment in Teleoperation Mode of Underwater Robot[J]. Nuclear Power Engineering, 2023, 44(1): 204-209. doi: 10.13832/j.jnpe.2023.01.0204

Citation:

Yang Junhao, Wang Bingyan, Yu Zhiwei, Pu Yaozhou, Li Hao, Chen Qian, Ma Shanlin. Research on Space Mapping Control Algorithm of Master-slave Equipment in Teleoperation Mode of Underwater Robot[J]. Nuclear Power Engineering, 2023, 44(1): 204-209. doi: 10.13832/j.jnpe.2023.01.0204

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Research on Space Mapping Control Algorithm of Master-slave Equipment in Teleoperation Mode of Underwater Robot

doi: 10.13832/j.jnpe.2023.01.0204

Science and Technology on Reactor System Design Technology Laboratory, Nuclear Power Insititute of China, Chengdu, 610213, China

Received Date: 2022-08-22
Rev Recd Date: 2022-09-30
Publish Date: 2023-02-15

Abstract

Abstract

In order to complete the underwater cleaning work safely and efficiently, this paper proposes an underwater robot cleaning device for nuclear power plants, which is based on UR5 underwater serial robot. The control system of the robot is introduced, and the joint space and workspace of the master and slave are analyzed. At the same time, in the teleoperation mode, the master-slave joint space mapping algorithm and workspace mapping algorithm are analyzed, and teleoperation experiments are carried out based on the two mapping control algorithms, and the test results are compared comprehensively. Finally, according to the needs of the underwater cleaning task of the nuclear power plant, the joint space mapping algorithm with fast response is selected for the master-slave control in the teleoperation mode.
- Underwater cleaning of nuclear power plant,
- Robot control strategy,
- Teleoperation,
- Space mapping

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References(8)

References

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