Hand-eye coordinative remote maintenance in a tokamak vessel
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- 作者：Qiang Qiu qiu6401@sjtu.edu.cn" class="auth_mail" title="E-mail the corresponding author ; Kai Gu gukai0707@sjtu.edu.cn" class="auth_mail" title="E-mail the corresponding author ; Pengfei Wang wpf790714@163.com" class="auth_mail" title="E-mail the corresponding author ; Weibang Bai 654253204@qq.com" class="auth_mail" title="E-mail the corresponding author ; Qixin Cao ; qxcao@sjtu.edu.cn" class="auth_mail" title="E-mail the corresponding author
- 关键词：Remote handling ; Tokamak ; Hand-eye coordination ; Collision avoidance
- 刊名：Fusion Engineering and Design
- 出版年：2016
- 出版时间：March 2016
- 年：2016
- 卷：104
- 期：Complete
- 页码：93-100
- 全文大小：2367 K
文摘
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If there is not rotation between the visual coordinate frame (OeXeYe) and hand coordinate frame (OhXhYh), a person can coordinate the movement between hand and eye easily.
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We establish an alignment between the movement of the operator's hand and the visual scene of the end-effector as displayed on the monitor.
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A potential function is set up in a simplified vacuum vessel model to provide a fast collision checking, and the alignment between repulsive force and Omega 7 feedback force is accomplished.
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We carry out an experiment to evaluate its performance in a remote handling task.