An obstacle avoidance path planning algorithm to simulate hyper redundant manipulators for tokamaks maintenance

被引：0
|
作者：
Buonocore, Sara [1 ,2 ]
Zoppoli, Andrea [1 ,2 ,4 ]
Di Gironimo, Giuseppe [1 ,2 ,3 ]
机构：
[1] Consorzio CREATE, Via Claudio 21, I-80125 Naples, NA, Italy
[2] Univ Napoli Federico II DII, Piazzale Vincenzo Tecchio 80, I-80125 Naples, NA, Italy
[3] DTT S C a r l, Via E Fermi 45, I-00044 Frascati, Italy
[4] Univ Padua, Via Gradenigo 6-A, I-35131 Padua, Italy
来源：
FUSION ENGINEERING AND DESIGN | 2024年 / 202卷
关键词：
Path planning; Collision avoidance; Hyper -redundant manipulator; Remote Maintenance; Tokamak; DTT; KINEMATICS;
D O I：
10.1016/j.fusengdes.2024.114334
中图分类号：
TL [原子能技术]; O571 [原子核物理学];
学科分类号：
0827 ; 082701 ;
摘要：
The present work proposes an obstacle avoidance path planning algorithm for virtual simulations of hyperredundant manipulators, with the possibility to customize the optimization criteria to select the best trajectory given in output. For test purposes, the effectiveness of the proposed Inverse Kinematic algorithm has been tested by simulating the Remote Maintenance (RM) tasks conducted by the HyRMan: the Hyper Redundant Manipulator developed for the Divertor Tokamak Test (DTT) project. The algorithm has been employed to simulate some critical handling tasks of the First Wall (FW) modules, with a specific optimization criterion as an example of its potentialities.
引用
收藏
页数：9
相关论文
共 50 条
  • [1] Improvement of Obstacle and Singularity Avoidance Path Planning Algorithm for Redundant Manipulators
    Liu Yu-Bin
    Dai Qian
    [J]. PROCEEDINGS OF THE 2015 5TH INTERNATIONAL CONFERENCE ON COMPUTER SCIENCES AND AUTOMATION ENGINEERING, 2016, 42 : 959 - 969
  • [2] A motion control and obstacle avoidance algorithm for hyper-redundant manipulators
    Wang, CC
    Kumar, V
    Chiu, GM
    [J]. PROCEEDINGS OF THE 1998 INTERNATIONAL SYMPOSIUM ON UNDERWATER TECHNOLOGY, 1998, : 466 - 471
  • [3] Obstacle Avoidance Path Planning of Planar Redundant Manipulators using Workspace Density
    Dong, Hui
    Du, Zhijiang
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2015, 12
  • [4] An obstacle avoidance scheme for hyper-redundant manipulators - Global motion planning in posture space
    Ma, SG
    Konno, M
    [J]. 1997 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION - PROCEEDINGS, VOLS 1-4, 1997, : 161 - 166
  • [5] A POTENTIAL-BASED PATH PLANNING ALGORITHM FOR HYPER-REDUNDANT MANIPULATORS
    Lin, Chien-Chou
    Chuang, Jen-Hui
    [J]. JOURNAL OF THE CHINESE INSTITUTE OF ENGINEERS, 2010, 33 (03) : 415 - 427
  • [6] A novel obstacle avoidance control scheme for hyper-redundant manipulators
    Ma, SG
    [J]. ENABLING SOCIETY WITH INFORMATION TECHNOLOGY, 2002, : 153 - 162
  • [7] Optimal Reachability with Obstacle Avoidance for Hyper-redundant and Soft Manipulators
    Cacace, Simone
    Lai, Anna Chiara
    Loreti, Paola
    [J]. ICINCO: PROCEEDINGS OF THE 17TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, 2020, : 134 - 141
  • [8] Novel Method of Obstacle Avoidance Planning for Redundant Sliding Manipulators
    Liu, Jinguo
    Tong, Yuchuang
    Ju, Zhaojie
    Liu, Yuwang
    [J]. IEEE ACCESS, 2020, 8 : 78608 - 78621
  • [9] Motion Planning and Control of Redundant Manipulators for Dynamical Obstacle Avoidance
    Palmieri, Giacomo
    Scoccia, Cecilia
    [J]. MACHINES, 2021, 9 (06)
  • [10] A Geometric Approach to Inverse Kinematics of Hyper-Redundant Manipulators for tokamaks maintenance
    Lauretti, Clemente
    Grasso, Tiberio
    de Marchi, Eliana
    Grazioso, Stanislao
    di Gironimo, Giuseppe
    [J]. MECHANISM AND MACHINE THEORY, 2022, 176
12345