Force-reflecting servo-manipulators for remote handling task in a radioactive environment

Mechanical master-slave manipulator (MSM) is a common device for a remote handling of nuclear materials in a radioactive environment such as a hot cell. However, since the master and the slave manipulator are directly connected through a wall, the slave manipulator cannot access all the process oper...

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Bibliographic Details
Published in2007 International Conference on Control, Automation and Systems pp. 1025 - 1028
Main Authors Jong Kwang Lee, Kino Kim, Byung Suk Park, Ji Sup Yoon
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2007
Subjects
Bandwidth
Control systems
Force control
Friction
Humans
Manipulator dynamics
Master-slave
radioactive environment
Reflection
Remote handling
Service robots
Servo-manipulator
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Summary:Mechanical master-slave manipulator (MSM) is a common device for a remote handling of nuclear materials in a radioactive environment such as a hot cell. However, since the master and the slave manipulator are directly connected through a wall, the slave manipulator cannot access all the process operation and maintenance areas. Also, the ratio of the slave to master force reflection is fixed at about 1:1, so the slave can only apply forces within the range of an operator's capacity. To overcome the deficiencies of the MSM, a servo-manipulator mounted on an overhead bridge is a preferred option. In this paper, we investigated the performance specifications of existing force reflecting servo-manipulators used for a remote handling of process equipment in a radioactive environment.
DOI:10.1109/ICCAS.2007.4407048