Realization of Joints Control Associated with Cable Switch for the Modularized Rail Structure

-Concurrent execution of module connection and the control of joint angles-

Abstract

In the decommissioning of Fukushima Daiichi Nuclear Power Station, the modularized rail structure, “ Rail DRAGON ” has been developed to observe inside the PCV for avoiding the troubles of robot teleoperation. Because there are obstacles on the path of the extending rail, the operators need to control the joint angles and avoid them. In this research, we propose “ wire switch method ” to concurrently execute the module connection and the control of joint angles. By setting up a detour of the power line and automatically judging the suitable moment that the fluctuation of angle signals is small, we proved that joint control can be maintained during the wire switching.