Force‐feedback teleoperation of an industrial robot in a nuclear spent fuel reprocessing plant-Reference-Cited by-同舟云学术

Force‐feedback teleoperation of an industrial robot in a nuclear spent fuel reprocessing plant

Published:2006-05-01 Issue:3 Volume:33 Page:178-186
ISSN:0143-991X
Container-title:Industrial Robot: An International Journal
language:en
Short-container-title:

Author:

Desbats Philippe,Geffard Franck,Piolain Gérard,Coudray Alain

Abstract

PurposeAims to describe how to make an industrial robot work as a telemanipulator with force feedback, in order to carry out various tasks for remote handling in nuclear fuel cycle plants.Design/methodology/approachThe robot Staübli RX170 (used as a slave arm) has been fitted with a force‐torque sensor and an electronic system for sensors' signals multiplexing. The overall system has been made tolerant to γ radiation up to a 10 kGy integrated dose. The industrial robot has been coupled to a master arm with force feedback capability and to the computer assisted teleoperation controller TAO2000 developed by CEA‐LIST.FindingsThe result of the maintenance operation reported in the paper, carried out with a Staübli RX170 robot at AREVA/COGEMA La Hague plant, illustrates the validity of this approach and demonstrates how remote handling can benefit from this new technology.Originality/valueIntroduces the teleoperation of industrial robots as a new solution for the maintenance of nuclear facilities. Wrist force/torque sensing and advanced master‐slave controller provide the operators with a high performance teleoperation system. Only limited modification of the existing design of the industrial robot has been carried out in order to transform it into a nuclear telemanipulator.

Publisher

Emerald

Subject

Industrial and Manufacturing Engineering,Computer Science Applications,Control and Systems Engineering

Reference10 articles.

1. Alexandre, J.M. et al. (2001), “Rad hard electronics developments for robotic applications”, paper presented at ANS Ninth Topical Meeting on Robotics and Remote Systems, Seattle, WA.

2. Desbats, P. (1999), “Using industrial robot in nuclear fuel reprocessing facilities force‐feed‐back teleoperation control”, paper presented at ANS Eighth Topical Meeting on Robotics and Remote Systems, Pittsburgh, PA, 25‐29 April.

3. Desbats, P. and Piolain, G. (2005), “Overview of remote handling technologies developed for inspection and maintenance of spent fuel management facilities in France”, paper presented at European Nuclear Conference, Versailles, 11‐14 December.

4. Desbats, P. et al. (1998), “Force‐feedback tele‐operation of industrial robots for tele‐robotic maintenance of nuclear plants”, paper presented at 29th International Symposium on Robotics, Birmingham.

5. Desbats, P., Toubon, H. and Piolain, G. (2004), “Status of development of remote technologies applied to COGEMA spent fuel management facilities in France”, paper presented at ANS Tenth International Topical Meeting on Robotics and Remote Systems for Hazardous Environments, Gainesville, FL, 28 March‐1 April.

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