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

聚变发电厂自动化机器人维护系统的高精度运动控制

• 批准号: 2879040
• 金额: --
• 依托单位: University of Nottingham
• 依托单位国家: 英国
• 项目类别: Studentship
• 财政年份: 2023
• 资助国家: 英国
• 起止时间: 2023 至 无数据
• 项目状态: 未结题
• 来源: https://gtr.ukri.org/projects?ref=studentship-2879040
• 关键词: precision; motion; control; automated; robotic

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.

该项目将开发大体积区域的精确运动控制，其中动态相互作用（例如，由于处理导致的装配变形，由外部接触引起的多体相互作用，或由于加工引起的湍流力）发生在核聚变发电厂的维护系统中。该项目将在诺丁汉大学进行。需要研究的科学挑战：如此大的组件的重量将导致机器人系统本身的各种变形或振动，特别是在运输或加工时。这将需要为整个系统（机器人和组件）开发准确和高效的模型，以实现更精确的、基于模型的控制。开发一种考虑动态相互作用的复杂系统控制方法，实现精确的运动控制。