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Pregled bibliografske jedinice broj: 1268767

3D Model-Based Nondestructive Scanning of Reactor Pressure Vessels with 6DoF Robotic Arms

Vasiljević, Goran; Brkić, Vedran; Postružin, Željko; Kovačić, Zdenko
3D Model-Based Nondestructive Scanning of Reactor Pressure Vessels with 6DoF Robotic Arms // Proceedings of the 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Sevilla: Institute of Electrical and Electronics Engineers (IEEE), 2022. str. 102-109 doi:10.1109/SSRR56537.2022.10018751 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)

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Naslov
3D Model-Based Nondestructive Scanning of Reactor Pressure Vessels with 6DoF Robotic Arms

Autori
Vasiljević, Goran ; Brkić, Vedran ; Postružin, Željko ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) / - Sevilla : Institute of Electrical and Electronics Engineers (IEEE), 2022, 102-109

Skup
The 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

Mjesto i datum
Sevilla, Španjolska, 08.10.2022. - 10.10.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
2-parameter scan path , 3D model-based nondestructive scanning , 6-DoF , 6DoF robotic , calculated path , central nacelle , known 3D model , mockup system , nondestructive testing , reactor pressure vessels , robotic arm , RPV , scan planning

Sažetak
In this paper, we present a method for scan planning of a system for nondestructive testing of reactor pressure vessels (RPVs). The system consists of a central nacelle hanging on the cables from the top of the RPV. The central nacelle supports two robotic arms with 6 degrees of freedom (6-DoF), which can be equipped with various tools for nondestructive testing. We present a method for calculating a 2-parameter scan path based on the known 3D model of the RPV. We also present a method for calculating a feasible trajectory in the joint space of a robotic arm based on the calculated path. The method is tested both in simulation and on the mockup system.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti



POVEZANOST RADA

Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Zdenko Kovačić (autor)

Avatar Url Željko Postružin (autor)

Avatar Url Goran Vasiljević (autor)

Poveznice na cjeloviti tekst rada:

doi ieeexplore.ieee.org

Citiraj ovu publikaciju:

Vasiljević, Goran; Brkić, Vedran; Postružin, Željko; Kovačić, Zdenko
3D Model-Based Nondestructive Scanning of Reactor Pressure Vessels with 6DoF Robotic Arms // Proceedings of the 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
Sevilla: Institute of Electrical and Electronics Engineers (IEEE), 2022. str. 102-109 doi:10.1109/SSRR56537.2022.10018751 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
Vasiljević, G., Brkić, V., Postružin, Ž. & Kovačić, Z. (2022) 3D Model-Based Nondestructive Scanning of Reactor Pressure Vessels with 6DoF Robotic Arms. U: Proceedings of the 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) doi:10.1109/SSRR56537.2022.10018751.
@article{article, author = {Vasiljevi\'{c}, Goran and Brki\'{c}, Vedran and Postru\v{z}in, \v{Z}eljko and Kova\v{c}i\'{c}, Zdenko}, year = {2022}, pages = {102-109}, DOI = {10.1109/SSRR56537.2022.10018751}, keywords = {2-parameter scan path , 3D model-based nondestructive scanning , 6-DoF , 6DoF robotic , calculated path , central nacelle , known 3D model , mockup system , nondestructive testing , reactor pressure vessels , robotic arm , RPV , scan planning}, doi = {10.1109/SSRR56537.2022.10018751}, title = {3D Model-Based Nondestructive Scanning of Reactor Pressure Vessels with 6DoF Robotic Arms}, keyword = {2-parameter scan path , 3D model-based nondestructive scanning , 6-DoF , 6DoF robotic , calculated path , central nacelle , known 3D model , mockup system , nondestructive testing , reactor pressure vessels , robotic arm , RPV , scan planning}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Sevilla, \v{S}panjolska} }
@article{article, author = {Vasiljevi\'{c}, Goran and Brki\'{c}, Vedran and Postru\v{z}in, \v{Z}eljko and Kova\v{c}i\'{c}, Zdenko}, year = {2022}, pages = {102-109}, DOI = {10.1109/SSRR56537.2022.10018751}, keywords = {2-parameter scan path , 3D model-based nondestructive scanning , 6-DoF , 6DoF robotic , calculated path , central nacelle , known 3D model , mockup system , nondestructive testing , reactor pressure vessels , robotic arm , RPV , scan planning}, doi = {10.1109/SSRR56537.2022.10018751}, title = {3D Model-Based Nondestructive Scanning of Reactor Pressure Vessels with 6DoF Robotic Arms}, keyword = {2-parameter scan path , 3D model-based nondestructive scanning , 6-DoF , 6DoF robotic , calculated path , central nacelle , known 3D model , mockup system , nondestructive testing , reactor pressure vessels , robotic arm , RPV , scan planning}, publisher = {Institute of Electrical and Electronics Engineers (IEEE)}, publisherplace = {Sevilla, \v{S}panjolska} }

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