Abstract:
EAST Articulated Maintenance Arm is an articulated serial robot arm for inspection and maintenance in an experimental advanced superconductor tokamak. This paper implemen...Show MoreMetadata
Abstract:
EAST Articulated Maintenance Arm is an articulated serial robot arm for inspection and maintenance in an experimental advanced superconductor tokamak. This paper implements soft computing algorithm for software calibration and compensation of pitch joint movement. An adaptive neurofuzzy inference system is applied to forecast the disclosed hysteresis loop compensation data. Joint position accuracy is significantly improved: maximum accuracy is 0.1 degree; repeatable accuracy is 0.05 degree; and RSM accuracy is 0.02 degree.
Published in: 2017 IEEE SENSORS
Date of Conference: 29 October 2017 - 01 November 2017
Date Added to IEEE Xplore: 25 December 2017
ISBN Information: