Design Of Trajectory Optimization Algorithm For Tokamak In-vessel Robot

Tokamak In-vessel Robot is designed for Experimental Advanced Superconducting Tokamak vessel in our country.It is used for scanning and maintenance for the Tokamak in the complicated environment by its 10-dof flexible in-vessel inspection robot.This paper mainly discussed the position error caused by the clearance of this robot and proposed the optimization algorithm and visual-feedback algorithm based on the image processing.And test these algorithm with the robot in a 1:1 model vessel.Firstly,this paper introduced the actualities of trajectory planning all over the world and the hardware and software of this robot.This paper built the kinematics model and inverse kinematics model by DH parameters,and planned the trajectory without considering the deformation of the big arm.Then we analyzed the reason of deformation of the big arm and built the error model,which was verified in the experiment.After that,the paper proposed a preliminary adjustment solution to reduce the position error,then proposed the optimization method to reduce the error ulteriorly.Then we proposed the visualfeedback control algorithm,we analyzed the influence on the image caused by the complicated environment in Tokamak and discussed the detail process of visual-feedback and established the control system model.At last,we used the Matlab platform with Robotics Toolbox for calculation and simulation for the algorithm and we designed experiments on the 1:1 vessel model to test and verify the optimization algorithm,which concluded that the trajectory optimization algorithm proposed by this paper is effective.