Sensitivity analysis of manipulator control for DEMO remote maintenance: A heavy-duty joint case study

Ming Li; Huapeng Wu; Ruochen Yin; Changyang Li; Guodong Qin; Amin Hekmatmanesh; Heikki Handroos; Tom Deighan; Brace William

doi:10.1016/j.fusengdes.2023.113810

Sensitivity analysis of manipulator control for DEMO remote maintenance: A heavy-duty joint case study

Ming Li^*
, Huapeng Wu
, Ruochen Yin
, Changyang Li
, Guodong Qin
, Amin Hekmatmanesh
, Heikki Handroos
, Tom Deighan
, Brace William

^*Corresponding author for this work

Research output: Contribution to journal › Article › Scientific › peer-review

Abstract

Sensitivity analysis has been conducted in the control system of a heavy-duty joint, where the trajectory tracking errors and gear system efficiency are deemed as the outputs of interest and the variety of the trajectory shapes, the payload and the environment temperature are deemed as the inputs of interest. The simulation results indicate that the position signal frequency has the most effect on both the tracking errors and gear efficiencies as well as control stability, and the system is less sensitive to the variety of the payload and temperature. The study also indicates that the sensitivity analysis can be used to narrow down the requirement concerns on the system design and used to verify the feasibility and reliability of system with respect to requirement.

Original language	English
Article number	113810
Journal	Fusion Engineering and Design
Volume	192
DOIs	https://doi.org/10.1016/j.fusengdes.2023.113810
Publication status	Published - Jul 2023
MoE publication type	A1 Journal article-refereed

Funding

This work has been carried out within the framework of the EUROfusion Consortium, funded by the European Union via the Euratom research and training program (Grant Agreement No 101052200 – EUROfusion).

Keywords

DEMO
Manipulator
Modeling
Remote maintenance
Sensitivity analysis

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10.1016/j.fusengdes.2023.113810Licence: CC BY

Cite this

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title = "Sensitivity analysis of manipulator control for DEMO remote maintenance: A heavy-duty joint case study",

abstract = "Sensitivity analysis has been conducted in the control system of a heavy-duty joint, where the trajectory tracking errors and gear system efficiency are deemed as the outputs of interest and the variety of the trajectory shapes, the payload and the environment temperature are deemed as the inputs of interest. The simulation results indicate that the position signal frequency has the most effect on both the tracking errors and gear efficiencies as well as control stability, and the system is less sensitive to the variety of the payload and temperature. The study also indicates that the sensitivity analysis can be used to narrow down the requirement concerns on the system design and used to verify the feasibility and reliability of system with respect to requirement.",

keywords = "DEMO, Manipulator, Modeling, Remote maintenance, Sensitivity analysis",

author = "Ming Li and Huapeng Wu and Ruochen Yin and Changyang Li and Guodong Qin and Amin Hekmatmanesh and Heikki Handroos and Tom Deighan and Brace William",

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language = "English",

volume = "192",

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TY - JOUR

T1 - Sensitivity analysis of manipulator control for DEMO remote maintenance

T2 - A heavy-duty joint case study

AU - Li, Ming

AU - Wu, Huapeng

AU - Yin, Ruochen

AU - Li, Changyang

AU - Qin, Guodong

AU - Hekmatmanesh, Amin

AU - Handroos, Heikki

AU - Deighan, Tom

AU - William, Brace

PY - 2023/7

Y1 - 2023/7

N2 - Sensitivity analysis has been conducted in the control system of a heavy-duty joint, where the trajectory tracking errors and gear system efficiency are deemed as the outputs of interest and the variety of the trajectory shapes, the payload and the environment temperature are deemed as the inputs of interest. The simulation results indicate that the position signal frequency has the most effect on both the tracking errors and gear efficiencies as well as control stability, and the system is less sensitive to the variety of the payload and temperature. The study also indicates that the sensitivity analysis can be used to narrow down the requirement concerns on the system design and used to verify the feasibility and reliability of system with respect to requirement.

AB - Sensitivity analysis has been conducted in the control system of a heavy-duty joint, where the trajectory tracking errors and gear system efficiency are deemed as the outputs of interest and the variety of the trajectory shapes, the payload and the environment temperature are deemed as the inputs of interest. The simulation results indicate that the position signal frequency has the most effect on both the tracking errors and gear efficiencies as well as control stability, and the system is less sensitive to the variety of the payload and temperature. The study also indicates that the sensitivity analysis can be used to narrow down the requirement concerns on the system design and used to verify the feasibility and reliability of system with respect to requirement.

KW - DEMO

KW - Manipulator

KW - Modeling

KW - Remote maintenance

KW - Sensitivity analysis

UR - https://www.scopus.com/pages/publications/85160023250

U2 - 10.1016/j.fusengdes.2023.113810

DO - 10.1016/j.fusengdes.2023.113810

M3 - Article

AN - SCOPUS:85160023250

SN - 0920-3796

VL - 192

JO - Fusion Engineering and Design

JF - Fusion Engineering and Design

M1 - 113810

ER -

Sensitivity analysis of manipulator control for DEMO remote maintenance: A heavy-duty joint case study

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