Nuclear Engineering and Technology

Korean Nuclear Society (한국원자력학회)
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Development of a shared remote control robot for aerial work in nuclear power plants

  • Shin, Hocheol (Nuclear Robot and Diagnosis Team, Korea Atomic Energy Institute) ;
  • Jung, Seung Ho (Nuclear Robot and Diagnosis Team, Korea Atomic Energy Institute) ;
  • Choi, You Rack (Nuclear Robot and Diagnosis Team, Korea Atomic Energy Institute) ;
  • Kim, ChangHoi (Nuclear Robot and Diagnosis Team, Korea Atomic Energy Institute)
  • Received : 2018.01.31
  • Accepted : 2018.03.11
  • Published : 2018.05.25
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Abstract

We are developing a shared remote control mobile robot for aerial work in nuclear power plants (NPPs); a robot consists of a mobile platform, a telescopic mast, and a dual-arm slave with a working tool. It is used at a high location operating the manual operation mechanism of a fuel changer of a heavy water NPP. The robot system can cut/weld a pipe remotely in the case of an emergency or during the dismantling of the NPP. Owing to the challenging control mission considering limited human operator cognitive capability, some remote tasks require a shared control scheme, which demands systematic software design and integration. Therefore, we designed the architecture of the software systematically.

Keywords

References

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