DocumentCode :
3035931
Title :
Simulation of remote manipulator using a virtual engineering
Author :
Park, Hee-Seong ; Choi, Chang-Hwan ; Kim, Sung-Hyun ; Park, Byung-Suk ; Yoon, Ji-Sup ; Kim, Ki-Ho ; Kim, Ho-Dong
Author_Institution :
Korea Atomic Energy Res. Inst., Daejeon, South Korea
fYear :
2009
fDate :
17-20 Nov. 2009
Firstpage :
375
Lastpage :
378
Abstract :
This study deals with the design and establishment of a modeling and simulation tool for an evaluation of the accessibility and operability of a remote manipulation in an advanced spent fuel conditioning process facility. This article describes different kinds of modules to analyze and evaluate the behavior of a manipulator and proposes a system architecture which illustrates an interface between its modules. The mathematical background in relation to forward and inverse kinematics for a virtual manipulator to access the devices is explained. To find out if a virtual manipulator by using a 6-DOF haptic device could access a failed part of pyroprocessing devices, and if a human operator could feel the force feedback when it collides with other objects when accessing a device, a case study was carried out.
Keywords :
control engineering computing; haptic interfaces; manipulators; nuclear fuel cycle facilities; telerobotics; virtual reality; 6-DOF haptic device; advanced spent fuel conditioning process; human operator; pyroprocessing devices; remote manipulator simulation; system architecture; virtual engineering; virtual manipulator; Analytical models; Assembly; Design engineering; Fuels; Graphics; Haptic interfaces; Humans; Mobile robots; Power engineering and energy; Virtual environment;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Assembly and Manufacturing, 2009. ISAM 2009. IEEE International Symposium on
Conference_Location :
Suwon
Print_ISBN :
978-1-4244-4627-8
Electronic_ISBN :
978-1-4244-4628-5
Type :
conf
DOI :
10.1109/ISAM.2009.5376975
Filename :
5376975
Link To Document :
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