Selection of smooth motion profile for a tube locator module of an inspection device

G. Perumalsamy, P. Visweswaran, Deepak Kumar, S. Joseph Winston, S. Murugan

Abstract


The Prototype Fast Breeder Reactor steam generators inspection system has seven modules. In this, tube locator module is a planar serial two-link robotic arm, which is used to place the eddy current probe above the steam generators tube hole in the tube sheet region. The trajectory planning of the two-link robotic arm is one of the important tasks, so the peak velocity, peak acceleration, peak jerk of various motion profiles for a given distance has to be selected properly for smooth motion and to avoid actuator saturation. The fifth-order polynomial gives lower acceleration and velocity than the jerk-limited S-curve. In this paper, the comparison of peak values of kinematic variables (velocity, acceleration, and jerk) for different motion profiles has been presented.

Keywords


Cycloidal motion; Harmonic jerk s-curve; Jerk-limited s-curve; Joint trajectory; Quintic polynomial; Residual vibration; Steam generator inspection

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DOI: http://doi.org/10.11591/ijra.v11i3.pp181-195

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