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tilt angle of robot body.
Fig. 12 Pitch angle of robot in two modes.
Fig. 14 Joints angle of robot RR and RF arms in task.
To real OCTOPUS, the yaw angle of robot cannot be got.
Figure 11a shows robot's original state, every joint's angle of robot is zero.
But for CLM, by the assist of arms, OCTOPUS can climb 400 mm step easily, and the biggest pitch angle of robot just reached 0.6 rad.
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When the roll, pitch and yaw angles of robot are zero, {R} has the same directions with world coordinate system {W}.
For OCTOPUS type robot, important three-dimensional (3D) environment information and robot state in environment can be obtained, through the arm's position in robot coordinate system and robot posture which includes roll, pitch and yaw angles of robot.
By controlling the angle of the robot fingers on the robot suction nozzle, it can change its own shape to completely adapt to cover the damaged sections found in NPPs, and consequently, radioactive release to the atmosphere is effectively prevented.
This is because the pitch angle of the robot changes rapidly between two sampling period, and robot has enough time to adjust each joint angle (such as boom joint should move 5° in one sampling period 0.02 s).
The obstacle moves out of the camera frame whenever a robot traverses the step because the attitude angle of the robot increases.
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com