Speaker
Description
Abstract: To address dispersed inspection points, space constraints, and the difficulty of close-up human access in accelerator manufacturing workshops, this study develops a low-cost inspection prototype composed of a mobile base and a lightweight robotic arm, together with a manually operated PC-based supervisory interface (HMI). The system uses wired/wireless links to coordinate chassis motion and arm control. The end-effector carries a general-purpose camera and auxiliary lighting to enable WYSIWYG teleoperation, fixed-point framing, and fine pose adjustments. The HMI provides real-time video, joint/velocity sliders, recall of preset poses, and a one-click emergency stop, while logging captured images and operator actions for traceability. Tests in simulated and real workshop aisles and around equipment show the prototype can complete typical inspection tasks (e.g., photographing nameplates, visually checking connectors/ports, and inspecting fasteners), reducing the need for personnel to enter narrow or occluded areas and improving framing consistency and repeatability. The results indicate that a human-in-the-loop approach based on manual HMI control is feasible without complex algorithms or expensive sensors, and it provides an engineering foundation for subsequent extensions such as semi-autonomous waypoint routes, status annotation, and basic anomaly prompts.
