核退役机器人自主拆解作业规划
Autonomous dismantling planning of robots for nuclear decommissioning
摘要
针对核设施退役工程中常涉及“0”平面以下设备室中管道的拆除,机器人远程遥控操作有时延、作业效率低等问题,提出了一种机器人自主拆解作业策略和自适应管道切割算法,实现机器人的自主搜寻定位与自适应切割。通过MATLAB对机器人的自主拆解作业规划策略和自适应管道切割算法进行仿真,生成机器人末端路径。仿真结果表明该策略和算法合理、可靠。研究结果对核退役机器人自主拆解作业方式提供借鉴意义。
作者
杨瑞
张秋菊
张元昕
YANG Rui;ZHANG Qiu-ju;ZHANG Yuan-xin
出处
《制造业自动化》
CSCD
北大核心
2022年第6期75-79,共5页
Manufacturing Automation
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