Abstract
The Chinese Fusion Engineering Testing Reactor (CFETR) is a superconducting Tokamak device that needs delicate maintenance. The Multi-Purpose Deployer (MPD), a redundant and heavy robot for remote handling (RH), is used to repair and monitor the device. For a redundant robot doing maintenance in complicated surroundings, the accurate and efficient Inverse Kinematics (IK) calculating is necessary for the motion control. In this paper, a new method that uses a Dynamic Accuracy Ant Colony Optimization (DAACO) solving redundant IK of MPD is developed. The result shows that this method has an excellent performance in kinematics to control the MPD to complete the RH task in future fusion engineering construction.
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