DEVELOPMENT OF REMOTE POSITIONING TECHNOLOGY FOR THE ITER BLANKET REMOTE HANDLING SYSTEM

抄録

This paper reports on the development of remote positioning technologies for the ITER Blanket Remote Handling System (BRHS). The international fusion experimental device ITER requires remote maintenance systems due to the high radiation environment inside the vacuum vessel. We present remote positioning technologies in radiation environments that are being verified and demonstrated as part of the development of the ITER BRHS, which will be used to replace and maintain the Blanket Module that are attached to the inner wall of the vacuum vessel.

The radiation environment in the ITER limitations on viable approaches for remote positioning. In this study, the authors developed remote positioning technologies that can be applied in radiation environments, such as virtual reality with structural simulator, robot vision using radiation-resistant cameras, and peg-in-hole operations with force feedback. We performed functionality testing using the full-scale prototype of a large manipulator and make a good progress on the testing. We are currently conducting verification testing for noncontact remote positioning using robot vision technology. In our future plans, we will conduct an integrated testing that covers operations from non-contact remote positioning to pegin-hole operations.