Virtual reality simulator for the EAST blanket remote handing system

Author

Su Xing ; Lu Junguo

Author_Institution

Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China

fYear

2014

fDate

May 31 2014-June 2 2014

Firstpage

4182

Lastpage

4186

Abstract

A 3D simulator system for EAST (Experimental Advanced Superconducting Tokamak) flexible in-vessel remote inspection manipulator is presented in this paper. Based on kinematics modeling, dynamics modeling and flexible modeling of the manipulator, the system can simulate it with high precision and reproduce it in 3D display mode. This system can reconstruct the position of the manipulator using feedback position data by the real system. It also can be used for confirming a path planning operator training before the actual operation. In addition, by using overlay technology of figures with graphics, the system can update the graphic information of EAST plasma facing components in virtual environment. This system has been preliminarily applied in the remote handing system, improved the structure design and path planning.

Keywords

Tokamak devices; fusion reactor blankets; fusion reactor design; fusion reactor instrumentation; plasma toroidal confinement; 3D display mode; EAST blanket remote handing system; Experimental Advanced Superconducting Tokamak; kinematics modeling; planning operator training; structure design; virtual reality simulator; Inspection; Manipulator dynamics; Remote handling; Solid modeling; Three-dimensional displays; Virtual reality; EAST; Manipulator; Remote handing; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference (2014 CCDC), The 26th Chinese

Conference_Location

Changsha

Print_ISBN

978-1-4799-3707-3

Type

conf

DOI

10.1109/CCDC.2014.6852914

Filename

6852914