Experimental Evaluation of Manipulator Teleoperation System Based on Trajectory Planning for Obstacle Removal Task in Nuclear Plant Decommissioning

In the teleoperation system of a dual-arm manipulator developed to retrieve fuel debris and reactor interior structures at the Fukushima Daiichi Nuclear Power Plant, we used software in which an obstacle avoidance function (trajectory planning) was implemented to conduct a mock test simulating obsta...

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Bibliographic Details
Published inJournal of robotics and mechatronics Vol. 36; no. 1; pp. 49 - 62
Main Authors Hashimoto, Tatsuya, Tazaki, Yuichi, Matsuda, Fumiya, Kitajima, Katsumasa, Nagano, Hikaru, Yokokohji, Yasuyoshi
Format Journal Article
LanguageEnglish
Published Tokyo Fuji Technology Press Co. Ltd 20.02.2024
Subjects
Computer simulation
Nuclear power plants
Nuclear reactors
Obstacle avoidance
Planning
Robotics
Robots
Teleoperators
Trajectory planning
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Summary:In the teleoperation system of a dual-arm manipulator developed to retrieve fuel debris and reactor interior structures at the Fukushima Daiichi Nuclear Power Plant, we used software in which an obstacle avoidance function (trajectory planning) was implemented to conduct a mock test simulating obstacle removal operations in narrow spaces. The test results confirmed the validity of the obstacle avoidance function, the executability of a series of necessary tasks, and the improved operability. In addition, issues were identified using the test data.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2024.p0049