High precision motion control for automated robotic maintenance systems in fusion power plants

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This project will develop precision motion control over large volume areas, where dynamic interactions (e.g., assembly deformations as a result of handling, multi-body interactions caused by external contacts, or turbulent forces due to machining) occurs in maintaining systems for fusion power plants. The project will be conducted at the University of Nottingham.The scientific challenges to be investigated: 1. The heavy weight of such a large assembly will result in varying deformation or vibration of the robotic system itself, especially, when it is being transported or machined. This will require the development of accurate and efficient models for the entire system (robot and component) to enable more precise, model based, control.2. To develop a control method for such complex systems, taking into account dynamic interactions, to enable precise motion control.