Automatic and Manual Control Algorithms of Radiation-Proof Manipulators

Abstract

This article covers the architecture, functional specifications and structure of the control system and operating modes of a 6-degree-of-freedom radiation-proof manipulators designed for the replacement of an outdated human-driven copying-type manipulator. The proposed robotic systems provide manual, semi-automatic and automatic modes, including the definition of workspace, collision avoidance, and automatic grasping of tare and materials.