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

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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