Advantage of redundancy in the controllability of remote handling manipulator
To carry out a variety of remote handling operations inside the ITER divertor a Water Hydraulic MANipulator (WHMAN) and its control system have been designed and developed at Tampere University of Technology. The manipulator is installed on top of Cassette Multifunctional Mover (CMM) to assist durin...
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| Veröffentlicht in: | Fusion engineering and design 2011-10, Vol.86 (9), p.1882-1885 |
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| container_end_page | 1885 |
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| container_issue | 9 |
| container_start_page | 1882 |
| container_title | Fusion engineering and design |
| container_volume | 86 |
| creator | Muhammad, Ali Mattila, Jouni Vilenius, Matti Siuko, Mikko Semeraro, Luigi |
| description | To carry out a variety of remote handling operations inside the ITER divertor a Water Hydraulic MANipulator (WHMAN) and its control system have been designed and developed at Tampere University of Technology. The manipulator is installed on top of Cassette Multifunctional Mover (CMM) to assist during the cassette removal and installation operations. While CMM is designed to carry heavy components such as cassettes through the service ducts relying on positioning accuracy and repeatability, WHMAN is designed to execute a mix of remote handling operations using position trajectories and master-slave telemanipulation. WHMAN is composed of eight joints: six rotational and two translational. Since a manipulator requires only six joints to acquire the desired position and orientation in operational-space, the two additional joints of WHMAN provide the redundant degrees of mobility. This paper presents how this redundancy of WHMAN can be an advantage to optimize the execution of remote handling tasks. The paper also discusses an effective way to practically exploit the redundancy. The results show that the additional degrees of freedom can be utilized to improve the dynamic behavior of the manipulator. |
| doi_str_mv | 10.1016/j.fusengdes.2010.12.022 |
| format | Article |
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The results show that the additional degrees of freedom can be utilized to improve the dynamic behavior of the manipulator.</description><subject>Applied sciences</subject><subject>Cassettes</subject><subject>Controled nuclear fusion plants</subject><subject>Coordinate measuring machines</subject><subject>Divertor maintenance</subject><subject>Ducts</subject><subject>Energy</subject><subject>Energy. Thermal use of fuels</subject><subject>Exact sciences and technology</subject><subject>Hydraulics</subject><subject>Installations for energy generation and conversion: thermal and electrical energy</subject><subject>Manipulability index</subject><subject>Manipulators</subject><subject>Redundancy</subject><subject>Remote handling</subject><subject>Robot arms</subject><subject>Robotics</subject><subject>Water hydraulics</subject><issn>0920-3796</issn><issn>1873-7196</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2011</creationdate><recordtype>article</recordtype><recordid>eNqFkEtrwzAMgM3YYN3jNyyXsVM622ni5FjKXrCxy3Y2ii23Lqnd2U6h_34uHb0OCQTik2R_hNwxOmWUNY_rqRkjuqXGOOX00OVTyvkZmbBWVKVgXXNOJrTjtKxE11ySqxjXlDKRc0I-5noHLsESC2-KgHp0GpzaF9YVaYWF8i4FPwzQ28Gm_RHa-ITFCpwerFsWG3B2Ow6QfLghFwaGiLd_9Zp8Pz99LV7L98-Xt8X8vVSVEKlsO6M1CKj6GfSQe4YZIWaUKa6pombWN6qpFQJtFWhjRNXSumeirbuWtwqra_Jw3LsN_mfEmOTGRoX5mQ79GGXXVO1M5MikOJIq-BgDGrkNdgNhLxmVB39yLU_-5MGfZFxmf3ny_u8GRAWDCVmLjadxXtdUNEJkbn7kMH94ZzHIqCw6hdoGVElqb_-99QsTP4x0</recordid><startdate>20111001</startdate><enddate>20111001</enddate><creator>Muhammad, Ali</creator><creator>Mattila, Jouni</creator><creator>Vilenius, Matti</creator><creator>Siuko, Mikko</creator><creator>Semeraro, Luigi</creator><general>Elsevier B.V</general><general>Elsevier</general><scope>IQODW</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>7TB</scope><scope>7U5</scope><scope>8FD</scope><scope>FR3</scope><scope>KR7</scope><scope>L7M</scope></search><sort><creationdate>20111001</creationdate><title>Advantage of redundancy in the controllability of remote handling manipulator</title><author>Muhammad, Ali ; Mattila, Jouni ; Vilenius, Matti ; Siuko, Mikko ; Semeraro, Luigi</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c377t-89fdda7a3b4abac37f1f77401c2d0c0f4b6c65cea08cadff73805b17859828ce3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2011</creationdate><topic>Applied sciences</topic><topic>Cassettes</topic><topic>Controled nuclear fusion plants</topic><topic>Coordinate measuring machines</topic><topic>Divertor maintenance</topic><topic>Ducts</topic><topic>Energy</topic><topic>Energy. Thermal use of fuels</topic><topic>Exact sciences and technology</topic><topic>Hydraulics</topic><topic>Installations for energy generation and conversion: thermal and electrical energy</topic><topic>Manipulability index</topic><topic>Manipulators</topic><topic>Redundancy</topic><topic>Remote handling</topic><topic>Robot arms</topic><topic>Robotics</topic><topic>Water hydraulics</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Muhammad, Ali</creatorcontrib><creatorcontrib>Mattila, Jouni</creatorcontrib><creatorcontrib>Vilenius, Matti</creatorcontrib><creatorcontrib>Siuko, Mikko</creatorcontrib><creatorcontrib>Semeraro, Luigi</creatorcontrib><collection>Pascal-Francis</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Solid State and Superconductivity Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Civil Engineering Abstracts</collection><collection>Advanced Technologies Database with Aerospace</collection><jtitle>Fusion engineering and design</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Muhammad, Ali</au><au>Mattila, Jouni</au><au>Vilenius, Matti</au><au>Siuko, Mikko</au><au>Semeraro, Luigi</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Advantage of redundancy in the controllability of remote handling manipulator</atitle><jtitle>Fusion engineering and design</jtitle><date>2011-10-01</date><risdate>2011</risdate><volume>86</volume><issue>9</issue><spage>1882</spage><epage>1885</epage><pages>1882-1885</pages><issn>0920-3796</issn><eissn>1873-7196</eissn><coden>FEDEEE</coden><abstract>To carry out a variety of remote handling operations inside the ITER divertor a Water Hydraulic MANipulator (WHMAN) and its control system have been designed and developed at Tampere University of Technology. 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| identifier | ISSN: 0920-3796 |
| ispartof | Fusion engineering and design, 2011-10, Vol.86 (9), p.1882-1885 |
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| source | Access via ScienceDirect (Elsevier) |
| subjects | Applied sciences Cassettes Controled nuclear fusion plants Coordinate measuring machines Divertor maintenance Ducts Energy Energy. Thermal use of fuels Exact sciences and technology Hydraulics Installations for energy generation and conversion: thermal and electrical energy Manipulability index Manipulators Redundancy Remote handling Robot arms Robotics Water hydraulics |
| title | Advantage of redundancy in the controllability of remote handling manipulator |
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