REALIZATION OF MODULE CONNECTION ASSOCIATED WITH THE CABLE SWITCH WHILE CONTROLLING JOINTS’ ANGLE FOR THE MODULARIZED RAIL STRUCTURE

抄録

Operation errors have occurred in the decommissioning work using remotely operated robots due to the lack of information on the surrounding environment. Therefore, a system for constant observations inside the PCV is anticipated.

Goto et al. developed easy disposable monitoring robots to constantly observe inside the PCV and a modularized rail structure (Rail DRAGON) as a scaffold for them to move.

Since there are obstacles on the path of Rail DRAGON deployment, the joints must always be controlled to avoid obstacles. However, in the conventional procedure of connecting modules and pushing the whole rail, the power and signal line were directly connected to the power supply/control device, so the new module could not be connected without cutting the cable at once and interrupting the control. This research aims to propose a method for realizing a system that maintains joint angle control even when connecting a new module to the rail.

Through the experiment, we proved that joint control can be maintained during switching cables by constructing a detour of the power line and automatically judging the suitable moment when the fluctuation of angle signals is small.