| Complex machining of the oversized workpiece is a key problem in the industry of heavy equipment manufacturing.The processing of complex machining has long been performed by artificial means,which cause the low efficiency and poor quality.Using the robotic system with mobile operations capabilities into complex machining of the oversized workpiece has become a new trend in the industry.Nuclear power head is typical of oversized workpieces.Shanghai Jiao Tong University(SJTU)research a new type walking mobile manufacturing robot using the P-P parallel configuration for the Control Rod Drive Mechanism(CRDM)nozzles welding.The paper research on the control method and system building for the new type walking mobile manufacturing robot in the environment of the CRDM nozzles welding.Firstly,this paper builds a robot location method based on RGBD vision sensor based on the requirements of robot location in the CRDM nozzles welding environment.This location method uses the CRDM nozzles distributing disciplinarian and build the topological relationship between CRDM nozzles.Then this paper establishes the coordinate relation between the robot and nuclear power head through topological data matching.Moreover,this paper proposes the cover method of CRDM nozzles based on the hexapod performance space and analyzes the robot global movement strategy.Then,this paper establishes a robot autonomous movement planning method and designs a robot real-time mobile control model,which realize the integration of simulation and control and have certain environmental adaptability.Next,this paper designs and implements a robot real-time control system.This paper establishes hybrid behavior control system framework and multi-core CPU control system platform,which can realize the highly real-time and openness,based on the task of mobile welding controlling.Then,this paper builds the hardware and software system.Finally,this paper establishes the control system in the experimental environment and designs experiments to verify the control methods,and control system performance.These experiments preliminarily verify that control methods and control system have good reliability and stability and can further apply to real mobile welding environment. |
