한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 1997년도 추계학술대회 논문집
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- Pages.519-522
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- 1997
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- 2005-8446(pISSN)
원격 유지보수용 다관절 조작기의 순차 탐색에 의한 장애물 회피 경로계획
Collision Free Path Planing of Articulated Manipulator for Remote Maintenance Using Sequential Search Method
초록
In this study, the collision free path planning method of the articulated manipulator using sequential search is proposed. This method is to find the joint path of the manipulator with many degrees of freedom from the distal joint to the proximal one. To do this, the initial work space of the gantry manipulator, which is a remote maintenance equipment of the radioactive environment, is defined from the condition that the distal joint configuration is determined by the posture of maintenance. Then, 2-dimensional configuration space with the obstacle area is represented and the collision free path of manipulator is searched in the configuration space. And, this method is verified using the graphic simulation in virtual workcell for the spent fuel disassembling processes. The result of this study can be effectively used in implementing the maintenance processes for the hot cell equipment and enhance the reliability of the spent fuel management.
키워드