低成本模拟核设施激光切割，实现高精度路径追踪。
A low-cost mockup to simulate robotic laser cutting in nuclear decommissioning
- 用紫外灯与机械臂构建低成本激光切割仿真系统。
- 未校准状态下路径跟踪均值误差仅2.4毫米（控光束时）。
- 无需标定，自动避障，适合核电退役场景研究。
本文提出一种低成本实验原型，用于模拟核设施退役中的容器激光切割过程。系统由三轴平台支撑带紫外敏感面的立方体容器、六自由度串联机械臂持紫外光源模拟激光，以及基于摄像头与标识标记的视觉系统组成。采用约束任务空间自适应运动控制器，可补偿参数误差，无需系统标定。由于显式考虑几何约束，机器人能实时避障。为提升路径追踪精度，控制紫外光束而非完整末端位姿，仅需四自由度。实验表明，即使初始未校准，系统在末端位姿控制下路径跟踪均值误差为3.9毫米（标准差2.5毫米），而光束控制下降至2.4毫米（标准差1.3毫米）。
原文摘要 · Abstract (English)
This paper introduces a low-cost experimental mockup to simulate the laser cutting process of containers in nuclear decommissioning. It is composed of a three-axis table supporting a cuboid container with ultraviolet-sensitive faces, a six-degree-of-freedom serial manipulator holding an ultraviolet torch that simulates the laser, and a visual system based on cameras and fiducial markers. The system employs a constrained task-space adaptive motion controller that compensates for inaccurate parameters and eliminates the need to calibrate the system. Furthermore, as the motion controller explicitly accounts for geometric constraints, the robot reactively avoids collisions with obstacles while handling the ultraviolet torch. To improve the tracking of the laser-cutting path, we control the ultraviolet beam, which requires only four degrees of freedom, instead of the full end-effector pose. Experiments show that, despite an initially uncalibrated system, the overall system is capable of tracking different trajectories with an overall mean accuracy of 3.9 (sd 2.5) mm when the end-effector pose is controlled and 2.4 (sd 1.3) mm when the ultraviolet beam is controlled.
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