Application of robotic handling concepts to spent nuclear fuel storage and transport systems

摘要

Laboratory demonstrations sponsored by the US Department of Energy at Sandia National Laboratories have shown the feasibility of robotically performing handling operations on spent nuclear fuel casks. These demonstrations have helped form the basis for cask design for robotic handling. Animated models of the operations have evolved into the cornerstone of the robotic control system. They are used for autonomous path and motion planning and execution, and to provide computer assistance and intervention during teleoperated robotic control to enhance operator effectiveness. The animated models are fed directly into the robot control system, automatically programming the robots for validation by demonstration. These models have also assisted in the visualization of tasks within facilities, and can enhance facility performance evaluations.