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. © Owned by the authors, published by EDP Sciences, 2014.

A Robotic arm for optical and gamma radwaste inspection

MUSCATO, Giovanni;
2014-01-01

Abstract

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. © Owned by the authors, published by EDP Sciences, 2014.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.11769/85333
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