| 聚变堆遥操作上层协同控制系统设计和测试 |
| |
| 引用本文： | 姚海峰,张 琼,杨 洋,常赛赛,彭 城,张璇琛,程 勇.聚变堆遥操作上层协同控制系统设计和测试[J].核聚变与等离子体物理,2023,43(1):18-25. |
| |
| 作者姓名： | 姚海峰 张 琼 杨 洋 常赛赛 彭 城 张璇琛 程 勇 |
| |
| 作者单位： | (1. 中国科学院等离子体物理研究所，合肥 230031；2. 合肥工业大学，合肥 230009；3. 中国科学技术大学，合肥 230022) |
| |
| 基金项目： | 国家重大科技基础设施建设项目(2018-000052-73-01-001228) |
| |
| 摘 要： | 为了解决聚变堆遥操作维护上层控制系统普遍存在的软件功能模块过于集中、拓展性差、不具备中层运动规划能力等问题，设计了一种基于机器人操作系统(ROS)的上层协同控制系统。该系统采用分布式架构，基于市场成熟的开发平台进行设计，集成了中层运动规划与动力学虚拟仿真功能。通过“轴销抓取”的实验场景测试的结果表明：该系统满足设计需求，运行稳定。
|
| 关 键 词： | 聚变工程 遥操作 上层控制系统 ROS 数据库 运动规划 |
| 收稿时间： | 2021-01-22 |
Design and test of high-level collaborative control system
for fusion reactor remote handling |
| |
| YAO Hai-feng,ZHANG Qiong,YANG Yang,CHANG Sai-sai,PENG Cheng,ZHANG Xuan-chen,CHENG Yong.Design and test of high-level collaborative control system
for fusion reactor remote handling[J].Nuclear Fusion and Plasma Physics,2023,43(1):18-25. |
| |
| Authors: | YAO Hai-feng ZHANG Qiong YANG Yang CHANG Sai-sai PENG Cheng ZHANG Xuan-chen CHENG Yong |
| |
| Institution: | (1. Institute of Plasma Physics, Chinese Academy of Sciences, Hefei 230031;
2. Hefei University of Technology, Hefei 230009;
3. University of Science and Technology of China, Hefei 230022) |
| |
| Abstract: | A new high-level collaborative control system for remote handling of fusion reactors based on the
robot operating system (ROS) was proposed to tackle the problems of overly integrated function modules, poor
extendibility, and absence of mid-level motion planning ability of the original system. The system adopted
distributed architecture, based on a mature development platform, and integrated middle-level motion planning
and dynamic virtual simulation functions. The “shaft pin grasping” experiment demonstrated that the high-level
control system satisfied the design requirements and stability. |
| |
| Keywords: | Fusion engineering Remote handling High-level control system ROS Database Motion planning |
|
| 点击此处可从《核聚变与等离子体物理》浏览原始摘要信息 |
| 点击此处可从《核聚变与等离子体物理》下载免费的PDF全文 |
