Research of the reactor vessel sealing surface inspection parallel robot control system

DOI

10.2991/icmra-15.2015.52How to use a DOI?

Keywords

Reactor Vessel; Parallel Robot; Movement Control; Inspection; Path Planning

Abstract

Based on the computer control technology and confocal white light measurement, used the visual detection to plan the path, proposed a control algorithm for the detection and location, designed a control system for the parallel robot to inspect the reactor vessel sealing surface, realized the automatic positioning and detection of scratch areas on pressure vessel sealing surface, and measured width and depth of the scratch as well. Experimental verification showed that it can detect ca. 0.15mm width and 0.025mm deep scratches, and successfully applied in nuclear power plant.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Tao Zhang
AU  - Qingsong Liu
AU  - Tenglong Li
AU  - Jiajie Chen
AU  - Liangzhong Jiang
PY  - 2015/04
DA  - 2015/04
TI  - Research of the reactor vessel sealing surface inspection parallel robot control system
BT  - Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation
PB  - Atlantis Press
SP  - 260
EP  - 264
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmra-15.2015.52
DO  - 10.2991/icmra-15.2015.52
ID  - Zhang2015/04
ER  -