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Since Fukushima nuclear accident, the international society are paying more and more attention on the safety of nuclear power. The healthy monitoring is the most important means for earth warning. In this paper, we developed a wall-climbing robotic system for intelligent monitoring in nuclear power plants. It was made up of mechanical, control, and(More)
The Cartesian path planning of free-floating space robot is much more complex than that of fixed-based manipulators, since the end-effector pose (position and orientation) is path dependent, and the position-level kinematic equations can not be used to determine the joint angles. In this paper, a method based on particle swarm optimization (PSO) is proposed(More)
This paper addresses a general scheme of teleoperation system for a space free-flying robot. The system is comprised of five subsystems: the predictive simulation subsystem (PSS), the master-slave control subsystem (MSCS), the task planning subsystem (TPS), the information processing subsystem (IPS) and the ground-based validation subsystem (GVS). All the(More)
A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it lose one degree of freedom, hence reducing its movement ability. In this paper, the key problems related(More)
Space robotic system is expected to play an increasingly important role in repairing GEO (geostationary orbit) satellites in the future. To perform the servicing mission, the robotic system is firstly required to approach and dock with the target autonomously, for which the measurement of relative pose is the key. It is a challenging task since the existing(More)