Zhang, J.Y. Chen, J.X. Kang, L. Liu, R.H. Yu, J.B. JACoW Publishing Geneva, Switzerland 2673-5520 978-3-95450-250-9 10.18429/JACoW-MEDSI2023-TUPYP045 English 93-96 experiment framework target radiation hardware Contribution to a conference proceedings 2024 2024-07 https://doi.org/10.18429/JACoW-MEDSI2023-TUPYP045 https://jacow.org/medsi2023/papers/tupyp045.pdf The primary stripper foil device is one of the most critical devices of The China Spallation Neutron Source Project Phase-II (CSNS-II), which requires regular foil replacement maintenance to ensure its stable operation. To mitigate the potential hazards posed to workers by prolonged exposure to high levels of radiation, a maintenance robotic system has been developed to perform repetitive and precise foil changing task. The proposed framework encompasses various aspects of the robotic system, including hardware structure, target detection, manipulator kinematics design, and system construction. The correctness and efficiency of the sys-tem are demonstrated through simulations carried out using ROS Moveit! and GAZEBO.