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Development of a Teleoperated Manipulator System for Remote Handling of Spent Fuel Bundles  

Ahn Sung Ho (Korea Atomic Energy Research Institute)
Jin Jae Hyun (Korea Atomic Energy Research Institute)
Yoon Ji Sup (Korea Atomic Energy Research Institute)
Publication Information
Nuclear Engineering and Technology / v.35, no.3, 2003 , pp. 214-225 More about this Journal
Abstract
A teleoperated manipulator system has been developed for remote handling of the spent fuel bundles. A heavy-duty power manipulator with high reduction ratio joints is used for the slave manipulator in the developed system since the handling tasks of the spent fuel bundles need power. Also, the universal type master manipulator, which has force reflecting capability, is used for precise remote manipulation. The power manipulators so frequently occur the control input saturation that the precise control performances are not achieved due to the windup phenomenon. An advanced bilateral control scheme compensating for the saturation is applied to the teleoperated manipulator system. The validity of the developed system is verified by the grid cutting and fuel transportation tasks from the mockup spent fuel bundle.
Keywords
teleoperation; remote handling; spent fuels; manipulator; bilateral control;
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