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.
关键词
退役处理/清洗机器人/运动学模型/轨迹规划/废液储罐
Key words
decommissioning/cleaning robot/kinematic model/trajectory planning/waste liquid storage tank
维普
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