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All Journal IAES International Journal of Robotics and Automation (IJRA)
G. Perumalsamy
Homi Bhabha National Institute
Automotive Engineering Electrical & Electronics Engineering

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Selection of smooth motion profile for a tube locator module of an inspection device G. Perumalsamy; P. Visweswaran; Deepak Kumar; S. Joseph Winston; S. Murugan
IAES International Journal of Robotics and Automation (IJRA) Vol 11, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v11i3.pp181-195

Abstract

The Prototype Fast Breeder Reactor steam generators inspection system has seven modules. In this, tube locator module is a planar serial two-link robotic arm, which is used to place the eddy current probe above the steam generators tube hole in the tube sheet region. The trajectory planning of the two-link robotic arm is one of the important tasks, so the peak velocity, peak acceleration, peak jerk of various motion profiles for a given distance has to be selected properly for smooth motion and to avoid actuator saturation. The fifth-order polynomial gives lower acceleration and velocity than the jerk-limited S-curve. In this paper, the comparison of peak values of kinematic variables (velocity, acceleration, and jerk) for different motion profiles has been presented.
Co-Authors Deepak Kumar P. Visweswaran S. Joseph Winston S. Murugan