Computed Torque Control Method for Two-Axis Planar Serial Robotic Arm

Abstract

The heat generated in reactor core is extracted using the sodium water heat exchanger system in fast breeder reactor. In the heat exchanger system there are 8 steam generators. Steam generator uses sodium and water to generate steam. Sodium–water reaction is exothermic in nature, so SG tubes need inspection to check healthiness of the tube. Due to space constraints, in-service inspection of SG needs remote-controlled robotic arm to locate SG tubes. The tube sheet is planar, so revolute joint two-link robotic arm is adapted. The movement of two-axis robotic arm needs control on position as well as velocity. The dynamic equation of two-axis robotic arm is coupled in nature which makes the control of end effector very difficult. The un-modeled phenomena, as that of friction and errors in mass distribution, will drastically affect the tracking of the end effector in the desired path. The Coriolis Effect is also accounted in the model. To precisely control the robotic arm end effector, the computed torque control technique is proposed and used in this paper.