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JRM Vol.36 No.1 pp. 49-62
doi: 10.20965/jrm.2024.p0049
(2024)

Paper:

Experimental Evaluation of Manipulator Teleoperation System Based on Trajectory Planning for Obstacle Removal Task in Nuclear Plant Decommissioning

Tatsuya Hashimoto*, Yuichi Tazaki**, Fumiya Matsuda**, Katsumasa Kitajima*, Hikaru Nagano** ORCID Icon, and Yasuyoshi Yokokohji** ORCID Icon

*Mitsubishi Heavy Industries, Ltd.
1-1-1 Wadasaki-cho, Hyogo-ku, Kobe, Hyogo 652-8585, Japan

**Kobe University
1-1 Rokkodai-cho, Nada-ku, Kobe, Hyogo 657-8501, Japan

Received:
July 28, 2023
Accepted:
December 11, 2023
Published:
February 20, 2024
Keywords:
robotic manipulator, teleoperation, nuclear power plant decommissioning, trajectory planning
Abstract

In the teleoperation system of a dual-arm manipulator developed to retrieve fuel debris and reactor interior structures at the Fukushima Daiichi Nuclear Power Plant, we used software in which an obstacle avoidance function (trajectory planning) was implemented to conduct a mock test simulating obstacle removal operations in narrow spaces. The test results confirmed the validity of the obstacle avoidance function, the executability of a series of necessary tasks, and the improved operability. In addition, issues were identified using the test data.

Mock test for obstacle removal operations

Mock test for obstacle removal operations

Cite this article as:
T. Hashimoto, Y. Tazaki, F. Matsuda, K. Kitajima, H. Nagano, and Y. Yokokohji, “Experimental Evaluation of Manipulator Teleoperation System Based on Trajectory Planning for Obstacle Removal Task in Nuclear Plant Decommissioning,” J. Robot. Mechatron., Vol.36 No.1, pp. 49-62, 2024.
Data files:
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Last updated on Apr. 05, 2024