Control system for blocking plate manipulation robot based on visual servo

A visual servo control system based on CAN-bus is designed to fulfil the manipulation for blocking plate in nuclear power plant. In the past, workers have to stay in the steam generator for a long time to assemble the blocking plate, which will have a great of harmful influence on the health of workers. In order to reduce the residence time in high radioactive region, a kind of robot is demanded to substitute workers to finish the job. To improve the accuracy of control system and realize the automatic operation, visual servo method is applied to optimize robot control system. Based on the prototype, experiments were conducted to verify the performance of robot system. The results showed the validity of optimized robot control system and the feasibility of automatic operation.

[1]  G. A. Johnstone,et al.  Improve protective clothing and reduce radwaste , 1995 .

[2]  Wei Fu,et al.  A study of robot control technology based on stereo vision , 2011, Proceedings of 2011 International Conference on Electronics and Optoelectronics.

[3]  Roger Y. Tsai,et al.  A new technique for fully autonomous and efficient 3D robotics hand/eye calibration , 1988, IEEE Trans. Robotics Autom..

[4]  Sos S. Agaian,et al.  Shape-dependent canny edge detector , 2011 .

[5]  A. Rohrabacher,et al.  Considerations in the development and implementation of a maintenance robot for nuclear power facilities , 1987 .

[6]  Reinhard German,et al.  Stochastic and deterministic performance evaluation of automotive CAN communication , 2009, Comput. Networks.

[7]  Shaozhong Cao,et al.  The communication of CAN bus used in synchronization control of multi-motor based on DSP , 2011, 2011 IEEE International Conference on Cloud Computing and Intelligence Systems.

[8]  Qiang Zhan,et al.  Automatic Navigation for A Mobile Robot with Monocular Vision , 2008, 2008 IEEE Conference on Robotics, Automation and Mechatronics.

[9]  Torsten Kröger,et al.  Simple and robust visual servo control of robot arms using an on-line trajectory generator , 2012, 2012 IEEE International Conference on Robotics and Automation.