Force control of remote maintenance robot for the ITER

Koji Takeo, Kazuhiro Kosuge, Kiyoshi Shibanuma, Kiyoshi Oka

研究成果: Paper査読

2 被引用数 (Scopus)

抄録

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.

本文言語English
ページ450-455
ページ数6
出版ステータスPublished - 2001 12 1
イベント27th Annual Conference of the IEEE Industrial Electronics Society IECON'2001 - Denver, CO, United States
継続期間: 2001 11 292001 12 2

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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