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

该项目将在大体积区域开发精密运动控制，在这些区域中，聚变发电厂的维护系统中会发生动态相互作用(例如，操作导致的装配变形、外部接触引起的多体相互作用或机械加工引起的湍流力)。该项目将在诺丁汉大学进行。有待调查的科学挑战：1.如此大的组件的重量将导致机器人系统本身不同程度的变形或振动，特别是在运输或加工时。这将需要为整个系统(机器人和部件)开发准确和高效的模型，以实现更精确的、基于模型的控制。开发一种针对这种复杂系统的控制方法，考虑动态相互作用，以实现精确的运动控制。

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.