Computer Aided Teleoperation Recent Trends The CEA Approaches in Mechanics, Control and Supervision For Maintenance and Dismantling of NuclearPlants

摘要

Telerobotics is a new emerging application of industrial robots for the maintenance and dismantling of nuclear plants. This paper presents an overview of CEA innovations durng the last ten years in the field of nuclear teleoperation. It outlines diverse developments carried out at CEA : mechanical design (Dextrous Arm, new electrical arm and Maestro, new Hydraulic manipulator), control (TAO2000 : radiation hardened computer aided teleoperation controller, and it's application to the control of an industrial robot), supervision (Graphical Language), mission preparation and experimental validation. The paper ends with the presentation of the CEA experimental facilities and teleoperation equipment.