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Research on the Trajectory Planning of Demolition Robot Attachment Changing

1
College of Mechanical Engineering, University of South China, Hengyang 421001, China
2
Hunan Provincial Key Laboratory of Emergency Safety Technology and Equipment for Nuclear Facilities, University of South China, Hengyang 421001, China
*
Author to whom correspondence should be addressed.
Sensors 2020, 20(16), 4502; https://doi.org/10.3390/s20164502
Received: 18 July 2020 / Revised: 8 August 2020 / Accepted: 11 August 2020 / Published: 12 August 2020
(This article belongs to the Section Sensors and Robotics)
The process of changing the attachment of a demolition robot is a complex operation and requires a high docking accuracy, so it is hard for operators to control this process remotely through the camera’s perspective. To solve this problem, this paper studies trajectory planning for changing a demolition robot attachment. This paper establishes a link parameter model of the demolition robot; the position and attitude of the attachment are obtained through a camera, the optimal docking point is calculated to minimize the distance error during angle alignment for attachment change, the inverse kinemics of the demolition robot are solved, the trajectory planning algorithm and visualization program are programmed, and then the trajectory planning for the demolition robot attachment changing method is proposed. The results of calculations and experiments show that the method in this paper can meet the accuracy, efficiency, and safety requirements of demolition robot attachment changing, and it has promising application prospects in the decommissioning and dismantling of nuclear facilities and other radioactive environments. View Full-Text
Keywords: demolition robot; attachment changing; trajectory planning; inverse kinematics demolition robot; attachment changing; trajectory planning; inverse kinematics
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MDPI and ACS Style

Deng, Q.; Zou, S.; Chen, H.; Duan, W. Research on the Trajectory Planning of Demolition Robot Attachment Changing. Sensors 2020, 20, 4502. https://doi.org/10.3390/s20164502

AMA Style

Deng Q, Zou S, Chen H, Duan W. Research on the Trajectory Planning of Demolition Robot Attachment Changing. Sensors. 2020; 20(16):4502. https://doi.org/10.3390/s20164502

Chicago/Turabian Style

Deng, Qian, Shuliang Zou, Hongbin Chen, and Weixiong Duan. 2020. "Research on the Trajectory Planning of Demolition Robot Attachment Changing" Sensors 20, no. 16: 4502. https://doi.org/10.3390/s20164502

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