Control system for blocking plate manipulation robot based on visual servo

摘要

A visual servo control system based on CAN-bus is designed to fulfil the manipulation for blocking plate in nuclear power plant. In the past, workers have to stay in the steam generator for a long time to assemble the blocking plate, which will have a great of harmful influence on the health of workers. In order to reduce the residence time in high radioactive region, a kind of robot is demanded to substitute workers to finish the job. To improve the accuracy of control system and realize the automatic operation, visual servo method is applied to optimize robot control system. Based on the prototype, experiments were conducted to verify the performance of robot system. The results showed the validity of optimized robot control system and the feasibility of automatic operation.