Kinematic Analysis of Tokamak In-Vessel Orbiting Robot

@article{Yan2017KinematicAO,
  title={Kinematic Analysis of Tokamak In-Vessel Orbiting Robot},
  author={Sheng Gang Yan and Yong Sheng Cheng and Chen Lu and Xuanchen Zhang and Hongtao Pan and Shanshuang Shi},
  journal={2017 Second International Conference on Mechanical, Control and Computer Engineering (ICMCCE)},
  year={2017},
  pages={17-21}
}
Tokamak In-Vessel Orbiting robot is mainly used for carrying working robot, which carries out maintenance operations in vessel. With the forward and inverse kinematic algorithms, the continuous path trajectory planning methods are used according to different posture of the robot. The relational curves of these joints angular displacement, angular velocity and angular acceleration are educed by this method. With these movement curves of the joint and the relative position between the circular… CONTINUE READING

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