Force control of remote maintenance robot for the ITER

Koji Takeo, Kazuhiro Kosuge, Kiyoshi Shibanuma, Kiyoshi Oka

Research output: Contribution to conferencePaperpeer-review

2 Citations (Scopus)

Abstract

This paper proposes a force control scheme of remote maintenance robot for the nuclear fusion reactor. In the International Thermonuclear Experimental Reactor (ITER), remote maintenance system which can perform assembly of heavy object in high positioning accuracy is required. For this kind of task, force control is much preferable to position control. We applied force control to experimental blanket handling system and performed several experiments of assembly of dummy blanket. The experimental results illustrate the validity of the force control for the task.

Original languageEnglish
Pages450-455
Number of pages6
Publication statusPublished - 2001 Dec 1
Event27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States
Duration: 2001 Nov 292001 Dec 2

Other

Other27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001
CountryUnited States
CityDenver, CO
Period01/11/2901/12/2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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