In this paper,a robot system for cleaning retired waste liquid storage tanks is developed.The structural design,kinematic model,and trajectory planning method of the robot are introduced.It can flexibly move and overcome obstacles to achieve efficient cleaning of retired waste liquid storage tanks.Experimental results show that the system has excellent planning effect on both flat and curved walls,thereby providing a key technology for cleaning waste storage tanks.
decommissioningcleaning robotkinematic modeltrajectory planningwaste liquid storage tank
万方数据
维普
