Abstract
Due to the 2011 Tohoku earthquake and tsunami, Tokyo Electric Power's Fukushima I Nuclear Power Plant was blown up. Because of this, a lot of radioactive substances had been spread in Fukushima and neighboring prefectures. Radioactive contaminations must be decontaminated as quickly as possible. However, decontamination plan, which announced by the ministry of the environment and so on, has been delayed. To accelerate decontamination, in this study, robotic washing system for decontaminating radioactive substances is proposed. The system uses multiple robots for retaining the quality of decontamination and accelerating the washing. Each robot consists with a mobile base module and a washing module. To choice different type of the mobile base module, the system adapts washing on road, wall, roof and so on. In this paper, a control method for washing module, base on a virtual inner model and virtual inner force, is applied to the washing module.
