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The development of robotic system for the nuclear power plants -The development of advanced robotics for the nuclear industry-

Technical Report:

Abstract

The omni-directional planetary wheel type mobile robot (KAEROT/ml) has been developed on the concepts of the modularity, reliability, and stability. Manipulator system is designed in order to be able to install on mobile system and to upgrade operating capability. Control system consists of 68030 processor board, servo motor controller and I/O board. The 6 DOFs hydraulic manipulator is designed for nozzle dam installation and removal. The reachable length of manipulator is 1.7 m with the wrist configuration of pitch-yaw-roll. For the easy installation of manipulator from outside steam generator, specially designed guider is considered. Also master manipulator is designed for force feedback control. RCP (Remote Control Part) is constructed with Sparc processor boards and servo control boards. Graphic simulation has done for the evaluation of manipulator performance of nozzle dam works. (Author).
Authors:
Kim, Seung Ho; Kim, Chang Hoi; Kim, Byung Soo; Lee, Yong Bum; Hwang, Suk Yeoung; Kim, Woong Ki; Park, Soon Yong; Lee, Young Kwang; Lee, Jae Gyeong; Seo, Yong Chil [1] 
  1. Korea Atomic Energy Res. Inst., Taejon (Korea, Republic of)
Publication Date:
Jul 01, 1994
Product Type:
Technical Report
Report Number:
KAERI/RR-1359/93
Reference Number:
SCA: 420200; PA: AIX-26:016051; EDB-95:030629; SN: 95001329435
Resource Relation:
Other Information: PBD: Jul 1994
Subject:
42 ENGINEERING; NUCLEAR POWER PLANTS; ROBOTS; COMPUTER GRAPHICS; CONTROL SYSTEMS; MOBILITY; NOZZLES; REAL TIME SYSTEMS; REMOTE CONTROL; 420200; FACILITIES, EQUIPMENT, AND TECHNIQUES
OSTI ID:
10113643
Research Organizations:
Korea Cancer Center Hospital, Seoul (Korea, Republic of)
Country of Origin:
Korea, Republic of
Language:
Korean
Other Identifying Numbers:
Other: ON: DE95615810; TRN: KR9400191016051
Availability:
OSTI; NTIS; INIS
Submitting Site:
KRN
Size:
493 p.
Announcement Date:
Jun 30, 2005

Technical Report:

Citation Formats

Kim, Seung Ho, Kim, Chang Hoi, Kim, Byung Soo, Lee, Yong Bum, Hwang, Suk Yeoung, Kim, Woong Ki, Park, Soon Yong, Lee, Young Kwang, Lee, Jae Gyeong, and Seo, Yong Chil. The development of robotic system for the nuclear power plants -The development of advanced robotics for the nuclear industry-. Korea, Republic of: N. p., 1994. Web.
Kim, Seung Ho, Kim, Chang Hoi, Kim, Byung Soo, Lee, Yong Bum, Hwang, Suk Yeoung, Kim, Woong Ki, Park, Soon Yong, Lee, Young Kwang, Lee, Jae Gyeong, & Seo, Yong Chil. The development of robotic system for the nuclear power plants -The development of advanced robotics for the nuclear industry-. Korea, Republic of.
Kim, Seung Ho, Kim, Chang Hoi, Kim, Byung Soo, Lee, Yong Bum, Hwang, Suk Yeoung, Kim, Woong Ki, Park, Soon Yong, Lee, Young Kwang, Lee, Jae Gyeong, and Seo, Yong Chil. 1994. "The development of robotic system for the nuclear power plants -The development of advanced robotics for the nuclear industry-." Korea, Republic of.
@misc{etde_10113643,
title = {The development of robotic system for the nuclear power plants -The development of advanced robotics for the nuclear industry-}
author = {Kim, Seung Ho, Kim, Chang Hoi, Kim, Byung Soo, Lee, Yong Bum, Hwang, Suk Yeoung, Kim, Woong Ki, Park, Soon Yong, Lee, Young Kwang, Lee, Jae Gyeong, and Seo, Yong Chil}
abstractNote = {The omni-directional planetary wheel type mobile robot (KAEROT/ml) has been developed on the concepts of the modularity, reliability, and stability. Manipulator system is designed in order to be able to install on mobile system and to upgrade operating capability. Control system consists of 68030 processor board, servo motor controller and I/O board. The 6 DOFs hydraulic manipulator is designed for nozzle dam installation and removal. The reachable length of manipulator is 1.7 m with the wrist configuration of pitch-yaw-roll. For the easy installation of manipulator from outside steam generator, specially designed guider is considered. Also master manipulator is designed for force feedback control. RCP (Remote Control Part) is constructed with Sparc processor boards and servo control boards. Graphic simulation has done for the evaluation of manipulator performance of nozzle dam works. (Author).}
place = {Korea, Republic of}
year = {1994}
month = {Jul}
}