Research on dual-arm collaborative motion control of LNG loading station inspection robot

Qi Zhang; Shuguang Gu; Lei Li; Lingfei Fang

doi:10.1117/12.3045480

20 September 2024 Research on dual-arm collaborative motion control of LNG loading station inspection robot

Qi Zhang, Shuguang Gu, Lei Li, Lingfei Fang

Proceedings Volume 13269, Fourth International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2024); 1326913 (2024) https://doi.org/10.1117/12.3045480
Event: Fourth International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2024), 2024, Kuala Lumpur, Malaysia

Abstract

With the promotion and application of LNG loading skid automatic control technology and information management technology, LNG loading stations are gradually developing towards unmanned stations. In the unmanned stations, in addition to automation equipment, inspection robots used for station inspection and maintenance are also essential. This article focuses on the research of dual arm inspection robots for unmanned stations, and conducts research on the coordinated motion control of dual arms for inspection robots in loading stations. Firstly, perform D-H parameter kinematic modeling on the designed robot; Secondly, design kinematic solving algorithms and dual arm collaborative motion algorithms based on the D-H model; Finally, a simulation platform is built in the ROS robot system for gripping simulation testing to verify the feasibility of the algorithm.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Qi Zhang, Shuguang Gu, Lei Li, and Lingfei Fang "Research on dual-arm collaborative motion control of LNG loading station inspection robot", Proc. SPIE 13269, Fourth International Conference on Advanced Algorithms and Signal Image Processing (AASIP 2024), 1326913 (20 September 2024); https://doi.org/10.1117/12.3045480

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available