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首页> 外文期刊>Advanced Robotics: The International Journal of the Robotics Society of Japan >A comparative study of manipulator teleoperation methods for debris retrieval phase in nuclear power plant decommissioning
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A comparative study of manipulator teleoperation methods for debris retrieval phase in nuclear power plant decommissioning

机译：A comparative study of manipulator teleoperation methods for debris retrieval phase in nuclear power plant decommissioning

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摘要

This paper presents a comparative study of teleoperation methods of robotic manipulators aiming at application to the decommissioning operation of the primary containment vessel (PCV) of Fukushima Daiichi Nuclear Power Plant Unit 3. A detailed set of mockup is constructed from data collected by internal investigation of the damaged PCV, and a series of teleoperation experiments using a dual-arm robotic manipulator simulating the actual obstacle removal operation is conducted. Three teleoperation methods, manual, teaching-based, and planning-based, are compared in terms of multiple performance indices. The manual teleoperation resulted in low efficiency and safety, and high cognitive load. The method based on pre-recorded teaching data showed the highest safety score, but required large amount of time for preparation. The planning-based method achieved efficient teleoperation with small amount of preparation time, while it was found that it needs further improvement in terms of safety.

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