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

被引：1
|
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
  • [21] The beam analysis algorithm for path planning for redundant manipulators
    Conkur, ES
    Buckingham, R
    Harrison, A
    MECHATRONICS, 2005, 15 (01) : 67 - 94
  • [22] A Local Obstacle Avoidance and Global Planning Method for the Follow-the-Leader Motion of Coiled Hyper-Redundant Manipulators
    Luo, Mingrui
    Tian, Yunong
    Li, En
    Chen, Minghao
    Tan, Min
    IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2024, 20 (04) : 6591 - 6602
  • [23] Control strategies for obstacle avoidance by redundant manipulators
    Secara, Cornel
    PROCEEDINGS OF THE ROMANIAN ACADEMY SERIES A-MATHEMATICS PHYSICS TECHNICAL SCIENCES INFORMATION SCIENCE, 2008, 9 (01): : 55 - 60
  • [24] E-RRT*: Path Planning for Hyper-Redundant Manipulators
    Ji, Hongcheng
    Xie, Haibo
    Wang, Cheng
    Yang, Huayong
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2023, 8 (12): : 8128 - 8135
  • [25] The virtual springs method: Path planning and collision avoidance for redundant manipulators
    McLean, A
    Cameron, S
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1996, 15 (04): : 300 - 319
  • [26] On path planning and obstacle avoidance for nonholonomic platforms with manipulators: A polynomial approach
    Papadopoulos, E
    Poulakakis, I
    Papadimitriou, I
    INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2002, 21 (04): : 367 - 383
  • [27] Obstacle Avoidance Algorithm for Redundant Manipulators Based on Pseudo-distance Method
    Wan J.
    Yao J.
    Yu L.
    Zhang L.
    Wu H.
    Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2020, 56 (17): : 59 - 70
  • [28] A Review on Kinematic, Workspace, Trajectory Planning and Path Planning of Hyper-Redundant manipulators
    Du, Zhao-cai
    Ouyang, Guang-Yao
    Xue, Jun
    Yao, Yan-bin
    2020 10TH INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2020), 2020, : 444 - 449
  • [29] An improved artificial potential field method of trajectory planning and obstacle avoidance for redundant manipulators
    Wang, Wenrui
    Zhu, Mingchao
    Wang, Xiaoming
    He, Shuai
    He, Junpei
    Xu, Zhenbang
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2018, 15 (05):
  • [30] A Predictable Obstacle Avoidance Model Based on Geometric Configuration of Redundant Manipulators for Motion Planning
    Ju, Fengjia
    Jin, Hongzhe
    Wang, Binluan
    Zhao, Jie
    SENSORS, 2023, 23 (10)
12345