https://doi.org/10.1051/epjconf/20137902007
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
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
