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Design and motion control of an under-actuated snake arm maintainer 期刊论文
ROBOTICA, 2022, 卷号: 40
作者:  Qin, Guodong;  Ji, Aihong;  Cheng, Yong;  Zhao, Wenlong;  Pan, Hongtao;  Shi, Shanshuang;  Song, Yuntao
收藏  |  浏览/下载：45/0  |  提交时间：2022/12/23
snake arm maintainer  layered drive  motion control  special environment application  
Systematic design of snake arm maintainer in nuclear industry 期刊论文
FUSION ENGINEERING AND DESIGN, 2022, 卷号: 176
作者:  Qin, Guodong;  Cheng, Yong;  Pan, Hongtao;  Zhao, Wenlong;  Shi, Shanshuang;  Ji, Aihong;  Wu, Huapeng
收藏  |  浏览/下载：48/0  |  提交时间：2022/05/16
Chinese fusion engineering test reactor  Snake arm maintainer  Layered drive  Multi-purpose overload robot  
Tracking control for flexible joint robots based on adaptive fuzzy compensation with uncertain parameters 期刊论文
INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2021
作者:  Huang, Huayuan;  Pan, Hongtao;  Cheng, Yong
收藏  |  浏览/下载：48/0  |  提交时间：2021/06/15
adaptive fuzzy compensation  cascaded control  flexible joint robot  tracking control  uncertainty  
Nonlinear model predictive control (NMPC) based trajectory tracking on EAST Articulated Maintenance Arm (EAMA) 期刊论文
FUSION ENGINEERING AND DESIGN, 2021, 卷号: 163
作者:  Zhang, Xuanchen;  Yao, Haifeng;  Zhang, Qiong;  Hao, Zhiwei;  Pan, Hongtao;  Yang, Yang;  Cheng, Yong;  Song, Yuntao
收藏  |  浏览/下载：54/0  |  提交时间：2021/06/21
Nonlinear model predictive control  Trajectory tracking  Redundant robot motion control  Collision avoidance  Remote handling  
Design and analysis of the hydraulic driving system for the circular transfer platform of the CFETR divertor 期刊论文
FUSION ENGINEERING AND DESIGN, 2020, 卷号: 156
作者:  Qin, Guodong;  Ji, Aihong;  Cheng, Yong;  Zhao, Wenlong;  Pan, Hongtao;  Shi, Shanshuang;  Song, Yuntao
收藏  |  浏览/下载：33/0  |  提交时间：2020/10/26
CFETR  Remote handling  Divertor  Circular transport platform  Load-sensitive system  
Engineering Design and Analysis of the CFETR Divertor Remote Maintenance System 期刊论文
IEEE TRANSACTIONS ON PLASMA SCIENCE, 2020, 卷号: 48
作者:  Zhao, W. L.;  Li, Y.;  Lu, K.;  Cheng, Y.;  Gao, X.;  Song, Y. T.;  Lin, X. D.;  Huang, J. J.;  Sun, H. B.;  Li, J. W.;  Shi, S. S.
收藏  |  浏览/下载：36/0  |  提交时间：2020/10/26
Maintenance engineering  Reliability  Remote handling  Plasmas  Manipulators  Stress  Rails  Engineering  fusion reactors  maintenance  remote handling (RH)  tokamak