A Robotic arm for optical and gamma radwaste inspection
1 INFN Laboratori Nazionali del Sud, via S. Sofia 62, 95125 Catania, Italy
2 DIEEI, Università di Catania, via S. Sofia 64, Catania, Italy
Published online: 10 December 2014
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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