This study proposes an algorithm for automatic generating motion trajectories of robot manipulator. This algorithm consists of two procedures. First, motion trajectories of the tool head are generated by using the concept of repulsive vector fields and motion trajectories model which consists of a number of spr ings and mass. Then, a posture of robot manipulator is also automatically generated using the same concept. We are planning to apply this system as a remote handling device for nuclear power plants....
英字タイトル:
Algorithm for Automatic Generating Motion Trajectories of Robot Manipulator in Nuclear Power Plant

This paper describes development of the remotely operated device for vacuum cleaning and visual inspection in boiling water reactors to enhance the availability of operating nuclear power plants. Fuel damage can occur if loose debris inside t he reactor vessel flows through the fuel and it can become a serious issue affecting plant reliability and radiation levels, therefore, removing the small debris on the bottom head is significant activities in nuclear power plants. While it i s difficult to remove sma...
英字タイトル:
Development of Vacuum Cleaning and Visual Inspection Device in BWR