TY - GEN
T1 - Neutron Source Installation Operation with 7-DOF Manipulator Based on Active Compliance Control
AU - Li, Juyi
AU - Hao, Peng
AU - Li, Nan
AU - Li, Ye
AU - Qin, Mingyue
AU - Cheng, Lin
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - During oil drilling operation, neutron source is widely applied for well logging purposes. The installation and uninstallation operation of neutron source to/from petroleum equipment is processed manually at current, which leads to the risk of occupational diseases for operators. This paper presents an automatic neutron source installation operation with a 7-DOF (degree of freedom) manipulator. A 1-DOF ending tool design is proposed to accomplish all required procedure. An implementation scheme of the whole installation operation is developed based on actual operation requirements. A control method based on active compliance control theory is presented and applied in the installation operation aiming to make sure operation executed smoothly and safely. To ensure safety of staff related to experiments, all experiments are executed with neutron source simulator, which is manufactured according to dimensions of real neutron source but with no radiations. Experimental results show that the neutron source installation operation proposed by this paper can replace traditional manual installation operation.
AB - During oil drilling operation, neutron source is widely applied for well logging purposes. The installation and uninstallation operation of neutron source to/from petroleum equipment is processed manually at current, which leads to the risk of occupational diseases for operators. This paper presents an automatic neutron source installation operation with a 7-DOF (degree of freedom) manipulator. A 1-DOF ending tool design is proposed to accomplish all required procedure. An implementation scheme of the whole installation operation is developed based on actual operation requirements. A control method based on active compliance control theory is presented and applied in the installation operation aiming to make sure operation executed smoothly and safely. To ensure safety of staff related to experiments, all experiments are executed with neutron source simulator, which is manufactured according to dimensions of real neutron source but with no radiations. Experimental results show that the neutron source installation operation proposed by this paper can replace traditional manual installation operation.
UR - https://www.scopus.com/pages/publications/85143695624
U2 - 10.1109/ICARM54641.2022.9959113
DO - 10.1109/ICARM54641.2022.9959113
M3 - 会议稿件
AN - SCOPUS:85143695624
T3 - ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics
SP - 748
EP - 753
BT - ICARM 2022 - 2022 7th IEEE International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2022
Y2 - 9 July 2022 through 11 July 2022
ER -