CN103817692B - 无损检测机器人进行智能检测的方法 - Google Patents
无损检测机器人进行智能检测的方法 Download PDFInfo
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- CN103817692B CN103817692B CN201310493388.9A CN201310493388A CN103817692B CN 103817692 B CN103817692 B CN 103817692B CN 201310493388 A CN201310493388 A CN 201310493388A CN 103817692 B CN103817692 B CN 103817692B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
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CN103817692A CN103817692A (zh) | 2014-05-28 |
CN103817692B true CN103817692B (zh) | 2016-08-17 |
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Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103985424B (zh) | 2014-05-29 | 2017-02-15 | 中广核检测技术有限公司 | 核反应堆压力容器无损检测机器人及其检测方法 |
CN108115724B (zh) * | 2016-11-29 | 2021-05-25 | 沈阳新松机器人自动化股份有限公司 | 一种机器人随动的测试方法 |
CN107741849B (zh) * | 2017-09-12 | 2019-07-12 | 北京华航唯实机器人科技股份有限公司 | 运动时序显示方法、装置和计算机终端 |
CN107962565A (zh) * | 2017-10-31 | 2018-04-27 | 中广核检测技术有限公司 | 一种视频检查装置扫查位置的定位方法 |
CN107972070B (zh) * | 2017-11-29 | 2021-03-30 | 上海新时达机器人有限公司 | 机器人性能的测试方法、测试系统及计算机可读存储介质 |
CN109958837A (zh) * | 2017-12-14 | 2019-07-02 | 湘潭宏远电子科技有限公司 | 一种管道机器人控制装置 |
CN108227719B (zh) * | 2018-01-31 | 2021-06-22 | 浙江国自机器人技术股份有限公司 | 一种移动机器人到位精度控制方法、系统、介质及设备 |
CN108732250B (zh) * | 2018-06-06 | 2020-10-16 | 中国农业大学 | 无损检测装置探头安装平台的万向节自适应调节机构 |
CN111347412A (zh) * | 2018-12-20 | 2020-06-30 | 核动力运行研究所 | 一种反应堆压力容器下封头堆焊层检测机械手运动轨迹规划方法 |
CN111168681B (zh) * | 2020-01-10 | 2021-09-21 | 山东大学 | 面向人机安全交互的机械臂智能避障方法、系统及机器人 |
CN112432999B (zh) * | 2020-10-30 | 2024-03-29 | 中广核检测技术有限公司 | 一种超声检查机器人扫查定位方法 |
Citations (2)
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US3664922A (en) * | 1969-12-18 | 1972-05-23 | Combustion Eng | In-service inspection of reactor vessel welds |
US4311556A (en) * | 1978-07-27 | 1982-01-19 | Hitachi, Ltd. | Method and system for inspection of inside of nuclear reactor vessel |
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2013
- 2013-10-18 CN CN201310493388.9A patent/CN103817692B/zh active Active
Patent Citations (2)
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US3664922A (en) * | 1969-12-18 | 1972-05-23 | Combustion Eng | In-service inspection of reactor vessel welds |
US4311556A (en) * | 1978-07-27 | 1982-01-19 | Hitachi, Ltd. | Method and system for inspection of inside of nuclear reactor vessel |
Non-Patent Citations (7)
Title |
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Control System for Reactor Vessel Inspestion Manipulator;Alan Mutka等;《Control Applications,(CCA)&intelligent Control,(ISIC),2009 IEEE》;20090710;第1312-1318页 * |
一种反应堆压力容器检查机(TIME)机械装置介绍;许伟科 等;《2009远东无损检测新技术论坛论文集》;20090612;全文 * |
一种反应堆压力容器检查机控制系统介绍;黄三傲;《2009远东无损检测新技术论坛论文集》;20090612;全文 * |
反应堆压力容器主螺栓超声波检测技术介绍;马官兵 等;《2010远东无损检测新技术论坛论文集》;20100501;第115-118页 * |
声发射检测技术在核电厂中的应用;吴刚 等;《2009远东无损检测新技术论坛论文集》;20090612;全文 * |
核电站反应堆压力容器检查技术及装备;李明 等;《2009远东无损检测新技术论坛论文集》;20090612;全文 * |
飞机表面爬行机器人轨迹跟踪控制方法研究;牛国臣 等;《中国民航大学学报》;20070430;第25卷(第2期);第4-8页 * |
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