제어로봇시스템학회:학술대회논문집
- 1996.10a
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- Pages.133-136
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- 1996
Local path-planning of a 8-dof redundant robot for the nozzle dam installation/detachment of the nuclear power plants
- Park, Ki C. (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
- Chang, Pyung H. (Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology) ;
- Kim, Seung H. (Advanced Robotics Development Korea Automic Energy Research Institute)
- Published : 1996.10.01
Abstract
The nozzle dam task is essentially needed to maintain and repair nuclear power plants. For this task, an 8-dof redundant robot is studied with a local path-planning method[l] which is effective to find the optimal joint path in the constrained environment. In this paper, the method[l] is improved practically with the weight matrix and efficient algorithm to find working set. The effectiveness of the proposed method is demonstrated by simulation and animation.
Keywords
- Redundant manipulator;
- Inverse kinematics;
- Local path planning;
- Kinematic control;
- Nuclear power plant;
- Nozzle dam task