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The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot

Abstract

In this project the following 4 sub- projects have been studied for use in nuclear power plants. 1) Development of precision control method for the hydraulic and pneumatic actuators: The fuzzy gain tuner for the pneumatic servo position control system with the state feedback controller was designed= by using the professional knowledge. Through the experimental study, this control method was verified to obtain the optimal fain automatically. 2) Development of an universal master arm and force reflecting teleoperation system: An autonomous telerobot system with a vision based force reflection capability was developed. To effectly implement visual force feedback, 3 different control methods were also developed. 3) A study on the analysis and control of the redundant robot manipulator: An optimal joint-path of 8-DOF redundant KAEROT for the nozzle dam task was generated and its effectiveness and safety was verified by using graphic/animation tool. The proposed dynamic control algorithm for the redundant robot was applied to the experiment of planar 3- DOF redundant robot, showing good performance. 4) A study on the robot/user interface design: A set of final design and its console table was developed, which has metaphorical identity and user-friendly interface and a study mock-up was also developed to  More>>
Authors:
Lee, Chung Oh; Cho, Hyung Seok; Jang, Pyung Hoon; Park, Ki Chul; Hyun, Jang Hwan; Kim, Joo Gon; Park, Young Joon; Hwang, Woong Tae; Jeon, Yong Soo; Lee, Joo Yeon; Ahn, Kyung Mo [1] 
  1. Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)
Publication Date:
Jul 01, 1996
Product Type:
Technical Report
Report Number:
KAERI-CM-018/95
Reference Number:
SCA: 440400; PA: KR-97:000784; EDB-98:025720; NTS-98:004013; SN: 98001897060
Resource Relation:
Other Information: PBD: Jul 1996
Subject:
44 INSTRUMENTATION, INCLUDING NUCLEAR AND PARTICLE DETECTORS; ROBOTS; CONTROL SYSTEMS; ALGORITHMS; FUZZY LOGIC; SERVOMECHANISMS; REMOTE HANDLING EQUIPMENT; HYDRAULIC EQUIPMENT; PNEUMATIC CONTROLLERS; ACTUATORS; VISION; MANIPULATORS; EQUIPMENT INTERFACES
OSTI ID:
575340
Research Organizations:
Korea Advanced Energy Research Inst., Daeduk-Danji (Korea, Republic of). Korea Nuclear Safety Center
Country of Origin:
Korea, Republic of
Language:
Korean
Other Identifying Numbers:
Other: ON: DE98724957; TRN: KR9700784
Availability:
OSTI as DE98724957
Submitting Site:
KR
Size:
223 p.
Announcement Date:

Citation Formats

Lee, Chung Oh, Cho, Hyung Seok, Jang, Pyung Hoon, Park, Ki Chul, Hyun, Jang Hwan, Kim, Joo Gon, Park, Young Joon, Hwang, Woong Tae, Jeon, Yong Soo, Lee, Joo Yeon, and Ahn, Kyung Mo. The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot. Korea, Republic of: N. p., 1996. Web.
Lee, Chung Oh, Cho, Hyung Seok, Jang, Pyung Hoon, Park, Ki Chul, Hyun, Jang Hwan, Kim, Joo Gon, Park, Young Joon, Hwang, Woong Tae, Jeon, Yong Soo, Lee, Joo Yeon, & Ahn, Kyung Mo. The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot. Korea, Republic of.
Lee, Chung Oh, Cho, Hyung Seok, Jang, Pyung Hoon, Park, Ki Chul, Hyun, Jang Hwan, Kim, Joo Gon, Park, Young Joon, Hwang, Woong Tae, Jeon, Yong Soo, Lee, Joo Yeon, and Ahn, Kyung Mo. 1996. "The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot." Korea, Republic of.
@misc{etde_575340,
title = {The development of robotic system for the nuclear power plants - A study on the manipulation of teleoperation system using redundant robot}
author = {Lee, Chung Oh, Cho, Hyung Seok, Jang, Pyung Hoon, Park, Ki Chul, Hyun, Jang Hwan, Kim, Joo Gon, Park, Young Joon, Hwang, Woong Tae, Jeon, Yong Soo, Lee, Joo Yeon, and Ahn, Kyung Mo}
abstractNote = {In this project the following 4 sub- projects have been studied for use in nuclear power plants. 1) Development of precision control method for the hydraulic and pneumatic actuators: The fuzzy gain tuner for the pneumatic servo position control system with the state feedback controller was designed= by using the professional knowledge. Through the experimental study, this control method was verified to obtain the optimal fain automatically. 2) Development of an universal master arm and force reflecting teleoperation system: An autonomous telerobot system with a vision based force reflection capability was developed. To effectly implement visual force feedback, 3 different control methods were also developed. 3) A study on the analysis and control of the redundant robot manipulator: An optimal joint-path of 8-DOF redundant KAEROT for the nozzle dam task was generated and its effectiveness and safety was verified by using graphic/animation tool. The proposed dynamic control algorithm for the redundant robot was applied to the experiment of planar 3- DOF redundant robot, showing good performance. 4) A study on the robot/user interface design: A set of final design and its console table was developed, which has metaphorical identity and user-friendly interface and a study mock-up was also developed to identify the possibility in a clear form. 33 refs., 3 tabs., 11 figs. (author)}
place = {Korea, Republic of}
year = {1996}
month = {Jul}
}