A Robotic arm for optical and gamma radwaste inspection
oleh: Russo L., Cosentino L., Pappalardo A., Piscopo M., Scirè C., Scirè S., Vecchio G., Muscato G., Finocchiaro P.
| Format: | Article |
|---|---|
| Diterbitkan: | EDP Sciences 2014-01-01 |
Deskripsi
We propose Radibot, a simple and cheap robotic arm for remote inspection, which interacts with the radwaste environment by means of a scintillation gamma detector and a video camera representing its light (< 1 kg) payload. It moves vertically thanks to a crane, while the other three degrees of freedom are obtained by means of revolute joints. A dedicated algorithm allows to automatically choose the best kinematics in order to reach a graphically selected position, while still allowing to fully drive the arm by means of a standard videogame joypad.