title: ÐÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐ¸Ð»Ð¾Ð¼Ð¾Ð¼ÐµÐ½ÑÐ½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ð¾Ð¹ Ð² Ð·Ð°Ð´Ð°ÑÐµ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ñ Ð½ÐµÑÐ°Ð·ÑÑÑÐ°ÑÑÐµÐ³Ð¾ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ Ð¼ÐµÑÐ°Ð»Ð»Ð° Ð¿Ð°ÑÑÑÐ±ÐºÐ¾Ð² Ð²ÐµÑÑ Ð½ÐµÐ³Ð¾ Ð±Ð»Ð¾ÐºÐ° ÑÐµÐ°ÐºÑÐ¾ÑÐ° ÑÐ¸Ð¿Ð° ÐÐÐ­Ð
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Application of force-torque control methods in the manipulative system for non-destructive testing of the metal in the upper unit piping of VVER-type reactors
Creators: name: ÐÐ¾Ð²Ð°Ð»ÐµÐ½ÐºÐ¾, Ð¡ÐµÐ¼ÑÐ½
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð Ð¾Ð±Ð¾ÑÑ Ð¿ÑÐ¾Ð¼ÑÑÐ»ÐµÐ½Ð½ÑÐµ
Ð¯Ð´ÐµÑÐ½ÑÐµ ÑÐµÐ°ÐºÑÐ¾ÑÑ Ð²Ð¾Ð´Ð¾-Ð²Ð¾Ð´ÑÐ½ÑÐµ
Ð½ÐµÑÐ°Ð·ÑÑÑÐ°ÑÑÐ¸Ð¹ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ
ÑÐ¸Ð»Ð¾Ð¼Ð¾Ð¼ÐµÐ½ÑÐ½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
non-destructive testing
force-torque control

description: Ð¦ÐµÐ»ÑÑ Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ ÑÐ²Ð»ÑÐµÑÑÑ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¾ÑÐ¾Ð±ÐµÐ½Ð½Ð¾ÑÑÐµÐ¹ Ð½ÐµÑÐ°Ð·ÑÑÑÐ°ÑÑÐµÐ³Ð¾ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ Ð¼ÐµÑÐ°Ð»Ð»Ð° Ð¿Ð°ÑÑÑÐ±ÐºÐ¾Ð² ÐºÑÑÑÐºÐ¸ Ð²ÐµÑÑÐ½ÐµÐ³Ð¾ Ð±Ð»Ð¾ÐºÐ° ÑÐµÐ°ÐºÑÐ¾ÑÐ° ÑÐ¸Ð¿Ð° ÐÐÐ­Ð  1100, Ð° ÑÐ°ÐºÐ¶Ðµ ÐµÐ³Ð¾ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ðµ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ° Ð¸ Ð¼ÐµÑÐ¾Ð´Ð° ÑÐ¸Ð»Ð¾Ð¼Ð¾Ð¼ÐµÐ½ÑÐ½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ. Ð ÑÐ¾Ð´Ðµ Ð²ÑÐ¿Ð¾Ð»Ð½ÐµÐ½Ð¸Ñ Ð±ÑÐ»Ð¸ ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ Ð¾ÑÐ¾Ð±ÐµÐ½Ð½Ð¾ÑÑÐ¸ Ð½ÐµÑÐ°Ð·ÑÑÑÐ°ÑÑÐµÐ³Ð¾ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ ÑÐµÐ°ÐºÑÐ¾ÑÐ° ÑÐ¸Ð¿Ð° ÐÐÐ­Ð  1100, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¾ÑÐ½Ð¾Ð²Ñ ÐµÐ³Ð¾ ÐºÐ¾Ð½ÑÑÑÑÐºÑÐ¸Ð¸ Ð¸ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½ Ð¾Ð±Ð·Ð¾Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐ¸Ð»Ð¾Ð¼Ð¾Ð¼ÐµÐ½ÑÐ½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÐ¾Ð±Ð¾ÑÐ°-Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ°, ÑÐ´ÐµÐ»Ð°Ð½ Ð°Ð½Ð°Ð»Ð¸Ð· Ð½Ð°Ð¸Ð±Ð¾Ð»ÐµÐµ Ð¿Ð¾Ð´ÑÐ¾Ð´ÑÑÐ¸Ñ Ð´Ð»Ñ Ð·Ð°Ð´Ð°ÑÐ¸ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ. Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ Ð¾ÑÐ½Ð¾Ð²Ð½ÑÐµ ÑÐ»ÐµÐ¼ÐµÐ½ÑÑ Ð¸ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿Ñ ROS â ÑÑÐµÐ¹Ð¼Ð²Ð¾ÑÐºÐ°, Ð½ÐµÐ¾Ð±ÑÐ¾Ð´Ð¸Ð¼Ð¾Ð³Ð¾ Ð´Ð»Ñ Ð¾ÑÑÑÐµÑÑÐ²Ð»ÐµÐ½Ð¸Ñ ÑÐ´Ð°Ð»ÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¼Ð°Ð½Ð¸Ð¿ÑÐ»ÑÑÐ¾ÑÐ¾Ð¼, ÑÐ°ÐºÐ¶Ðµ Ð¿ÑÐ¸Ð²ÐµÐ´ÐµÐ½Ð° Ð½Ð°ÑÑÑÐ¾Ð¹ÐºÐ° Ð¾ÐºÑÑÐ¶ÐµÐ½Ð¸Ñ. Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½ ÑÑÐ½ÐºÑÐ¸Ð¾Ð½Ð°Ð» Ð²ÑÐ±ÑÐ°Ð½Ð½Ð¾Ð³Ð¾ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ° Ð¸ ÐµÐ³Ð¾ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ Ð´Ð»Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐµÐ°Ð»ÑÐ½ÑÐ¼ ÑÐ¾Ð±Ð¾ÑÐ¾Ð¼. Ð Ð·Ð°Ð²ÐµÑÑÐµÐ½Ð¸Ð¸ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ» Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½ ÑÑÐ´ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² â Ð¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð¸Ðµ ÐºÐ°ÑÐ°Ð½Ð¸Ñ, Ð¿Ð¾Ð´Ð´ÐµÑÐ¶Ð°Ð½Ð¸Ðµ ÑÑÐ¸Ð»Ð¸Ñ Ñ Ð¿Ð¾Ð²ÐµÑÑÐ½Ð¾ÑÑÑÑ, ÑÐµÐ°ÐºÑÐ¸Ñ Ð½Ð° Ð¸Ð·Ð¼ÐµÐ½ÐµÐ½Ð¸Ðµ ÑÑÐ¸Ð»Ð¸Ñ, ÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¼Ñ ÐºÐ¾Ð½ÑÑÑÑ. ÐÐ¾Ð»ÑÑÐµÐ½Ð½ÑÐµ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÑ Ð¿Ð¾Ð´ÑÐ²ÐµÑÐ´Ð¸Ð»Ð¸ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÑ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð°Ð½Ð½Ð¾Ð³Ð¾ Ð¼ÐµÑÐ¾Ð´Ð° Ð´Ð»Ñ ÑÐ¸Ð»Ð¾Ð¼Ð¾Ð¼ÐµÐ½ÑÐ½Ð¾Ð³Ð¾ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ñ Ð¼ÐµÑÐ°Ð»Ð»Ð° Ð¿Ð°ÑÑÑÐ±ÐºÐ¾Ð², ÐºÐ¾ÑÐ¾ÑÑÐ¹ Ð±ÑÐ» ÑÑÐ¿ÐµÑÐ½Ð¾ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½ Ð½Ð° Ð¸Ð¼Ð¸ÑÐ°ÑÐ¾ÑÐµ Ð¿Ð°ÑÑÑÐ±ÐºÐ°.
description: The aim of this work is to explore the features of non-destructive testing of the metal in the upper unit cover piping of VVER-1100 reactors, as well as to conduct it using a robotic manipulator and the force-torque control method. During the course of the work, the features of non-destructive testing of the VVER-1100 reactor were examined, along with the basics of its design and operation. A review of existing force-torque control methods using a robotic manipulator was conducted, and an analysis of the most suitable methods for the research task was performed. The main elements and principles of the ROS framework, necessary for remote manipulator control, were discussed, and the environment setup was detailed. The functionality of the chosen controller and its implementation for controlling a real robot were considered. In conclusion, a series of experiments were conducted â determining touch, maintaining force with the surface, responding to changes in force, and following a specified contour. The results confirmed the feasibility of using this method for force-torque testing of the metal in piping, which was successfully carried out on a pipe simulator.