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.
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页数：9
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