核动力插接管道焊缝机器人自动检测系统

Robot Auto Detecting System for the Weld Seam of Inlaid Pipe Lines in Nuclear Equipment

结合课题设计要求 ,建立了以远程实时控制为核心的焊缝检测系统。采用分段几何法解决关节规划逆运动学的求解问题 ,避开了Jacobian矩阵及其伪逆的计算 ,也避免了D -H矩阵变换法随手臂冗余度的增加表现为解的多重性或不存在性的不足。结果表明 ,各关节的运动学逆解唯一 ,计算简单 ,运算量小 ,便于实时控制。

According to the requirements of project, a remote manipulating robot auto-detecting system based on the real time control was built. In order to avoiding the shortcomings of traditional D-H transformation matrix in resolving the inverse kinematic equations, and the complexity of using the pseudo-inverse of Jacobian matrix, a partition geometric algorithm was implemented. The results show that this algorithm is simple and effective. Applying the control algorithm in this system, the real time control of remote manipulation can be obtained.