Izvorni znanstveni članak
Design and Implementation of Remote Control System for Reactor VesselWeld InspectionManipulator
Ivica Draganjac
; Fakultet elektrotehnike i računarstva Sveučilište u Zagrebu, Zagreb, Hrvatska
Alan Mutka
; Fakultet elektrotehnike i računarstva Sveučilište u Zagrebu, Zagreb, Hrvatska
Zdenko Kovačić
orcid.org/0000-0003-3987-4576
; Fakultet elektrotehnike i računarstva Sveučilište u Zagrebu, Zagreb, Hrvatska
Željko Postružin
; Hrid Ltd, Zagreb, Hrvatska
Ranko Munk
; Hrid Ltd, Zagreb, Hrvatska
Sažetak
In this paper a design and implementation of a remote control system of a manipulator for weld inspection of nuclear reactor vessels are described. Based on the client-server TCP/IP software architecture, the presented control system enables an operator to perform the entire inspection procedure remotely over a network, avoiding exposure to dangerous radiation normally present in nuclear reactor environments. The developed graphical user interface provides tools for planning weld scan trajectories, their verification on a robot and reactor vessel 3D model, and finally, execution of planned trajectories on a remote robot. In addition, the weld inspection process can be monitored in parallel on a virtual robot and reactor vessel model and by watching live video streams captured by
two cameras mounted on the robot.
Ključne riječi
Reactor vessel inspection; Remote control; 3D visualization
Hrčak ID:
47496
URI
Datum izdavanja:
22.12.2009.
Posjeta: 3.961 *