Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot

Research on the Dynamic Control Method of CFETR Multi-Purpose Overload Robot

The CFETR multi-purpose overload robot (CMOR) is a key subsystem of the remote handling system of the China fusion engineering test reactor (CFETR). This paper first establishes the kinematic and dynamic models of CMOR and analyzes the working process in the vacuum chamber. Based on the uncertainty...

Full description

Bibliographic Details
Main Authors: Congju Zuo, Guodong Qin, Hongtao Pan, Liang Xia, Feng Wang, Pucheng Zhou, Xiaoyan Qin, Ning Shi, Leiji Lu, Ruijuan Zhao, Chenhui Wan, Guangnan Luo, Weihua Wang, Yong Cheng
Format: Article
Language:English
Published: MDPI AG 2023-09-01
Series:Applied Sciences
Subjects:
CFETR
multi-purpose overload robot
sliding mode controller
error compensation
rigid-flexible control
Online Access:https://www.mdpi.com/2076-3417/13/18/10487

Internet

https://www.mdpi.com/2076-3417/13/18/10487

Similar Items