الفهرس 
Chapter 1Only 14 pages are availabe for public view
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Abstract
In the present thesis, it is proposed to replace conventional manipulators in hot cells by robots, to prevent involved personnel from being exposed to nuclear radiation hazards, in accordance with the criteria of reducing radiation exposure to be as low as reasonably achievable (ALARA).
In this respect, the educational robot HERO 2000, after being coupled to a PC, and provided with a sensing mat which is known as the force sensing array (FSA), is programmed, to be able to identify position and orientation of an irradiation can, that is falling on the ground of a hot cell, and consequently to be able to pick-and transport this can to a lathe for cutting.
Both direct kinematic equations and their inverses are established, in the frame of Denavite-Hartenberg (D-H) matrix representations, for describing any arbitrary robotic manipulator with arbitrary number of links. Differential increments in tip attitude functionals, are extracted. Linear and angular velocities are calculated in terms of rotation matrices. Therefrom, the Jacobian matrix is expressed. Particularizations to the robot HERO 2000 are achieved.
A computer program, written in BASIC, translates positions and orientations of irradiation cans, on the basis of some proposed processing criteria, to the robot HERO 2000 joint angles: torso, arm, elbow, wrist pitch and wrist roll by virtue of employing inverse kinematics.