Abstract
In nuclear power plants (NPP), dismantling is the most technically involved process during their life time. During the dismantling process, public safety must be ensured. In crisis situations, a remotely controlled robot system is needed for the dismantling of NPP. Therefore, in this research, a bilateral tele-operation system is proposed to tackle these emergency conditions. Transparency can be improved by using force and position signal in the control strategy. In some applications, force cannot be determine directly using physical sensors. In this work, a novel tele-operated bilateral control strategy is proposed to estimate the reaction force of 3-degree-of-freedom (DOF) master and hydraulic slave manipulators without the use of a sensor. The control strategy is developed by using sliding mode control with sliding perturbation observer (SMCSPO). The sliding perturbation observer (SPO) estimates the reaction force at the end effector and second link without using sensors. The sliding mode control (SMC) is used as a tele-operated bilateral controller for the robust position tracking and control of the slave device. The impedance model is used to differentiate between the applied force (force exerted by operator) and the reaction force due to the remote environment. Different experiments were performed to verify the proposed strategy. The results indicate that the slave manipulator exactly follows the trajectory of the master device. A camera is used to take visual feedback of the workspace for safety purpose. This technique can also be applied for higher-order DOF manipulators in NPP.
Highlights
The dismantling of a nuclear power plant (NPP) at the end of its life is an important issue.Among 160 NPP, nineteen of them have already been dismantled, and around one hundred are still under the process of dismantling [1,2,3]
As the slave device follows the movement of the master device, the impedance controller is responsible for finding the reaction force
The controller for the slave device is designed based on the sliding mode control with sliding perturbation observer (SMCSPO) scheme
Summary
The dismantling of a nuclear power plant (NPP) at the end of its life is an important issue. A force-position scheme was chosen, with an architecture based upon a two-channel bilateral tele-operative task This strategy incorporates the localization of the slave device and the force reflection of master device. The tele-operated bilateral control scheme is implemented for efficient and accurate position and force tracking betweenin the master/slave configuration with visual feedback.
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