RADIATION-RESISTANT ROBOTIC COMPLEX: HARDWARE, SOFTWARE AND MATHEMATICAL CONCEPTS

E.M. Chavkin1, A.N. Fomin1, V.V. Prikhodko1, A.A. Sobolev1, A.V.Zhukov1, P.E. Kapustin1,
V.E. Kiryukhin1, D.S. Lavygin1, V.V. Levshchanov1, S.V. Pavlov2, V.P. Smirnov2,
V.V. Svetukhin3

1S.P. Kapitsa Technological Research Institute of Ulyanovsk State University, Ulyanovsk, Russia, vp@kapitsa.tech
2 Sosny Research and Development Company, Dimitrovgrad, Ulyanovsk region, Russia
3 SMC ´┐ŻTechnological Center´┐Ż, Zelenograd, Moscow, Russia.

Received: 12 November 2019; Accepted in revised form: 29 November 2019

Abstract.
The results of developing a radiation-hardened robotic complex to work in hot cells at nuclear industry facilities are presented. For each constituting element of the complex – arobotic manipulator, a control device with force feedback, control software – a detailed description is given.Special attention is paid to the mathematical basis of the manual control mode implemented by means of an original 6-DoF joystick.Further development of the control software made it possible to create a training simulator, the software part of which is identical to that used for the robotic arm control. The simulator hardware consists of VR equipment and the 6-DoF joystick.

Keywords: robotic complex, manipulator, control device, force feedback, joystick, control algorithms, mathematical basis, radiation-protected chamber, hot cell, training simulator, virtual reality, VR, control software.

 

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