Inverse kinematics for the CMOR in the CFETR based on workspace analysis: A novel approach

Abstract

This paper delves into the intricate field of inverse kinematics in the context of the Chinese Fusion Engineering Test Reactor (CFETR) and its specialized robot, the multi-purpose overload robot (CMOR). Nuclear fusion, a cornerstone for sustainable energy, presents immense potential with benefits like high energy output and minimal environmental impact. The goal of the CFETR is to transform nuclear fusion energy from theory to practical solutions to solve the global energy crisis. The CMOR, with nine degrees of freedom, is pivotal in maintaining in-vessel components damaged by intense radioactive exposure. This study introduces a novel approach to solve the inverse kinematics of the CMOR based on the CFETR's work environment. It involves dividing the working space, identifying target interval based on coordinates, and employing intelligent algorithms for precise and efficient kinematic resolution. Six algorithms were evaluated, highlighting the proposed approach's superior computational speed and accuracy, crucial for real-time monitoring and control in CFETR operations. This work presents a significant advancement in redundant robotic kinematics in nuclear fusion environment.