NDLI: IMPROVING THE POSITIONING ACCURACY OF POWERFUL MANIPULATORS WITH APPLICATION IN NUCLEAR MAINTENANCE

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IMPROVING THE POSITIONING ACCURACY OF POWERFUL MANIPULATORS WITH APPLICATION IN NUCLEAR MAINTENANCE

Content Provider	CiteSeerX
Author	Meggiolaro, Marco Antonio Dubowsky, Steven
Abstract	Abstract. Powerful robotic manipulators are needed in nuclear maintenance, field, undersea and medical applications to perform high accuracy tasks requiring the manipulation of heavy payloads. The nozzle dam positioning task for maintenance of a nuclear power plant steam generator is an example of a task that requires a strong manipulator with very fine absolute positioning accuracy. Absolute accuracy, rather than simple repeatability, is required for autonomous operation or for teleoperation with advanced virtual aides, such as virtual viewing. However, high accuracy is generally unattainable in manipulators capable of producing high task forces due to such factors as high joint, actuator, and transmission friction and link geometric distortions. A method called Base Sensor Control (BSC) has been developed to compensate for nonlinear joint characteristics, such as high joint friction, to improve system repeatability. A method to identify and compensate for system geometric distortion positioning errors in large manipulators has also been proposed to improve absolute accuracy in systems with good repeatability. This technique is called Geometric and Elastic Error Compensation (GEC). Here, it is shown experimentally that the two techniques can be effectively combined to enable strong manipulators to achieve high absolute positioning accuracy while performing tasks requiring high forces.
File Format	PDF
Access Restriction	Open
Subject Keyword	Strong Manipulator Absolute Accuracy System Geometric Distortion Nonlinear Joint Characteristic Link Geometric Distortion High Absolute Heavy Payload Medical Application Nuclear Power Plant Steam Generator Advanced Virtual Aide Nuclear Maintenance Autonomous Operation Base Sensor Control Fine Absolute Simple Repeatability High Accuracy Task High Accuracy High Force Powerful Robotic Manipulator High Joint Friction Nozzle Dam Good Repeatability High Joint High Task Force Transmission Friction Elastic Error Compensation Virtual Viewing System Repeatability Large Manipulator
Content Type	Text
Resource Type	Article

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