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It is very difficult and dangerous for human being to perform tasks in an environment which is contaminated with irradiation. Therefore, telerobotic manipulators are used for hazardous task at a nuclear power plant which is inherently hazardous with i...
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Inverse Kinematics of a Telerobotic Manipulator for Hazardous Task = Inverse Kinematics of a Telerobotic Manipulator for Hazardous Task
한글로보기부가정보
다국어 초록 (Multilingual Abstract)
It is very difficult and dangerous for human being to perform tasks in an environment which is contaminated with irradiation. Therefore, telerobotic manipulators are used for hazardous task at a nuclear power plant which is inherently hazardous with irradiation and contamination.
In order to control the telerobotic manipulator, the kinematics and inverse kinematics of the telerobotic manipulator should be resolved. However it is widely known that it is very difficult to find the solution of the inverse kinematics of the telerobotic manipulator due to the complexity of the system. In this paper, the method for finding the inverse kinematics of a telerobotic manipulator for hazardous task such as nozzle dam installation/removal operation at a nuclear power plant was proposed.
In order to control the telerobotic manipulator, the kinematics and inverse kinematics of the telerobotic manipulator should be resolved. However it is widely known that it is very difficult to find the solution of the inverse kinematics of the telerobotic manipulator due to the complexity of the system. In this paper, the method for finding the inverse kinematics of a telerobotic manipulator for hazardous task such as nozzle dam installation/removal operation at a nuclear power plant was proposed.
It is very difficult and dangerous for human being to perform tasks in an environment which is contaminated with irradiation. Therefore, telerobotic manipulators are used for hazardous task at a nuclear power plant which is inherently hazardous with irradiation and contamination.
In order to control the telerobotic manipulator, the kinematics and inverse kinematics of the telerobotic manipulator should be resolved. However it is widely known that it is very difficult to find the solution of the inverse kinematics of the telerobotic manipulator due to the complexity of the system. In this paper, the method for finding the inverse kinematics of a telerobotic manipulator for hazardous task such as nozzle dam installation/removal operation at a nuclear power plant was proposed.
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