Design Of Remote Handling Control System For Tokamak In-vessel Robot Based On EtherCAT

Tokamak device, a reaction which can produce large-scale fusion, is not only the key to put controlled nuclear fusion into use, but also a main approach to realize sustainable energy development. The first wall, as one of the most important components of Tokamak, is inspected manually. It’s dangerous because of high temperature and vacuum and strong radiation existing in Tokamak. This paper proposes the design of remote handling system for Tokamak in-vessel robot based on EtherCAT, which aims to replace human’s operation.At first, this paper introduces the research and development on remote handling system of nuclear robot, and designs the control system architecture according to the in-vessel robot’s task. Modbus/TCP and EtherCAT communication is adapted to meet the need of real-time and interaction. Besides, Modbus/TCP is used to realize the communication between upper computer and lower computer while lower computer communicate with driver by EtherCAT bus.Secondly, in-vessel robot is simply introduced. Then we solve kinematic and inverse kinematic equation based on DH parameters and deduced the transform between task space and joint space. Regarding to the first wall inspection, continuous trajectory plan and optimization are made based on the first-wall-rate algorithm.At last, in order to finish the single task of in-vessel robot and inspect the first wall effectively, operation modes are designed. Then the program of upper computer and lower computer is through experiments. It indicates the system can work reliably and operation mode is uesful. What’s more, most of the first wall can be seen clearly in the scanning task.