Title :
Kinematics Modeling of the Arm of a Radiation Protection Assistant Robot
Author :
Zeb, Jahan ; Qaiser, Nadeem ; Iqbal, Naeem ; Ahmed, Nasir
Author_Institution :
Dept. of Electr. Eng., Pakistan Inst. of Eng. & Appl. Sci., Islamabad
Abstract :
This paper presents the forward and inverse kinematics modeling of a four degree of freedom (DOF) articulated robot arm, mounted on radiation protection assistant robot-1 (RPAR-I). It is a wheeled mobile monitoring and surveillance robot being designed and developed at Department of Electrical Engineering, Pakistan Institute of Engineering and Applied Sciences (PIEAS). Recent advances in robotics and radiation hardening technologies have led to the fusion of radiation protection techniques and robot devices. The robot equipped with machine vision and remote control capabilities for tool maneuvering, promises safety of radiation workers from unnecessary radiation doses during handling of radioactive material and preventive maintenance schedules
Keywords :
control system synthesis; industrial robots; manipulator kinematics; nuclear power stations; radiation protection; robot vision; surveillance; telecontrol; degree of freedom; kinematics modeling; machine vision; manipulator; mobile monitoring; nuclear industry; radiation protection assistant robot; remote control capability; surveillance robot; Design engineering; Inverse problems; Kinematics; Machine vision; Mobile robots; Protection; Radiation hardening; Remote monitoring; Robot vision systems; Surveillance; Kinematics; Radiation protection; Robotics; articulated arm;
Conference_Titel :
9th International Multitopic Conference, IEEE INMIC 2005
Conference_Location :
Karachi
Print_ISBN :
0-7803-9429-1
Electronic_ISBN :
0-7803-9430-5
DOI :
10.1109/INMIC.2005.334445
