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http://dx.doi.org/10.5762/KAIS.2013.14.1.33

A development of a general purposed control system of robot end-effector for inspection and maintenance of steam generator heat pipe  

Park, Ki-Tae (Tech. R&D Institute, KEPCO KPS)
Kim, Seon-Jin (Dept. of Mechatronics Eng., Tongmyong University)
Lho, Tae-Jung (Dept. of Mechatronics Eng., Tongmyong University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.14, no.1, 2013 , pp. 33-38 More about this Journal
Abstract
The general purposed control system for driving a motion of many different typed robot end-effector, which consists of a controller based on ARM Cotex M3-11017 MCU and an application software for generating a motion of end-effector, was developed. Experimental results show that a positioning error is nearly negligible and a repeatability error is 0.04%. Accordingly the developed control system can be applied practically to actuate a robot end-effector for inspection and maintenance of steam generator heat pipe in nuclear power plant.
Keywords
End-Effector; General Purposed Control System; Inspection & Maintenance Robot; Motion Control; Steam Generator Heat Pipe;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
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