This study deals with the design and establishment of a modeling and simulation tool for an evaluation of the accessibility and operability of a remote manipulation in an advanced spent fuel conditioning process facility. This article describes different kinds of modules to analyze and evaluate the behavior of a manipulator and proposes a system architecture which illustrates an interface between its modules. The mathematical background in relation to forward and inverse kinematics for a virtual manipulator to access the devices is explained. To find out if a virtual manipulator by using a 6-DOF haptic device could access a failed part of pyroprocessing devices, and if a human operator could feel the force feedback when it collides with other objects when accessing a device, a case study was carried out.
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