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Published byBarry Newton Modified over 9 years ago
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Univ logo Research and Teaching using a Hydraulically-Actuated Nuclear Decommissioning Robot Craig West Supervisors: C. J. Taylor, S. Monk, A. Montazeri Lancaster University UKACC PhD Presentation Showcase
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Univ logo UKACC PhD Presentation Showcase Slide 2 Aim of research Use Semi-autonomous control to solve a real world problem in nuclear decommissioning i.e. pipe cutting, using a mobile dual armed hydraulic robot. Combine with 3D vision system to improve teleoperation capability
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Univ logo UKACC PhD Presentation Showcase Slide 3 Introduction Background Robots needed in Nuclear Decommissioning due to hazardous environment Current robots quite limited Current work Kinematics calculated to get from target position to necessary joint angles for the arm, needed for closed loop control Prototype vision system developed to segment image and generate target position for each arm Graphical simulation of dual arm system developed Right image - http://www.brokk.com/applications/#nuclear Left image - http://www.ocrobotics.com/applications--solutions/nuclear/nuclear-case-study--lasersnake
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Univ logo UKACC PhD Presentation Showcase Slide 4 Kinematics, forward and inverse Transformation matrix, gives rotation and position of end effector relative to base coordinate frame
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Univ logo UKACC PhD Presentation Showcase Slide 5 Vision system Uses a Microsoft Kinect Takes screenshot, and segments image based on edge detection User selects point for grasping and saw position automatically calculated, OR user selects both grasping and saw points
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Univ logo UKACC PhD Presentation Showcase Slide 6 Conclusion Identified real world problem - pipe grasping and sawing Solved manipulator Kinematics to allow closed loop control Developed prototype 3D vision system Tested in simulations Ready to test on actual robot Based on test results will improve vision system and control system for arms, including collision avoidance
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