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Research and Teaching using a Hydraulically-Actuated Nuclear

Decommissioning Robot

Craig West

Supervisors: C. J. Taylor, S. Monk, A. Montazeri

Lancaster University

UKACC PhD Presentation Showcase

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Aim of research

Use Semi-autonomous control to solve a real world problem in nuclear decommissioning i.e. pipe cutting, using a mobile dual armed hydraulic robot.

Combine with 3D vision system to improve teleoperation capability

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Introduction

Background Robots needed in Nuclear Decommissioning due to hazardous

environment Current robots quite limited

Current work Kinematics calculated to get from target position to necessary joint

angles for the arm, needed for closed loop control Prototype vision system developed to segment image and generate

target position for each arm Graphical simulation of dual arm system developed

Right image - http://www.brokk.com/applications/#nuclearLeft image - http://www.ocrobotics.com/applications--solutions/nuclear/nuclear-case-study--lasersnake

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Kinematics, forward and inverse Forward kinematics take joint angles and generate end effector positon Inverse kinematics take end effector position and generates necessary

joint angles

Where each element is an equation such as below:-Transformation matrix, gives rotation and position of end effector relative to base coordinate frame

Univ logo UKACC PhD Presentation Showcase Slide 5

Vision system Uses a Microsoft Kinect Takes screenshot, and segments image based on edge detection User selects point for grasping and saw position automatically

calculated, OR user selects both grasping and saw points

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Conclusion

Identified real world problem - pipe grasping and sawing

Solved manipulator Kinematics to allow closed loop control

Developed prototype 3D vision system Tested in simulations Ready to test on actual robot Based on test results will improve vision system

and control system for arms, including collision avoidance