The Prototype Fast Breeder Reactor steam generators inspection system has seven modules. In this, tube locator module is a planar serial two-link robot"/>
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Selection of smooth motion profile for a tube locator module of an inspection device

G. Perumalsamy,P. Visweswaran,Deepak Kumar,S. Joseph Winston,S. Murugan

International Journal of Robotics and Automation (IJRA)（2022）

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Abstract
The Prototype Fast Breeder Reactor steam generators inspection system has seven modules. In this, tube locator module is a planar serial two-link robotic arm, which is used to place the eddy current probe above the steam generators tube hole in the tube sheet region. The trajectory planning of the two-link robotic arm is one of the important tasks, so the peak velocity, peak acceleration, peak jerk of various motion profiles for a given distance has to be selected properly for smooth motion and to avoid actuator saturation. The fifth-order polynomial gives lower acceleration and velocity than the jerk-limited S-curve. In this paper, the comparison of peak values of kinematic variables (velocity, acceleration, and jerk) for different motion profiles has been presented.
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Key words
tube locator module,smooth motion profile
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