抄録
The dual arm manipulators were developed for dismantling activities in nuclear facilities. The dual arm manipulators consist of two electrical powered manipulators, edn-effectors and a control system. To realize stable dismantling operation remotely, the dual arm manipulators are designed from view point of proper control in coping with different activity conditioning by feedback of image and force to the control system. The image feedback was considered to obtain accuracy positioning of the end-effectors and the force feedback was considered to supply proper force for direct interaction with an object. Motion tests were performed to verify the dual arm manipulators and its control system. As a result, it was confirmed that the remote dismantling activities such as cutting, radioactivity measurement, decontamination were conducted efficiently by using the image feedback and the force feedback.
