PREFIT project: Integration of man-in-the-loop and automation for manipulation of heavy loads and forces in ITER

Operating within the framework of the Euratom Fusion Training Scheme (EFTS), the PREFIT partnership prepares remote handling (RH) engineers for ITER with an integrated programme of training and research over 3 years. the research topics aims at improving effectiveness and safety of remote handling manipulation of heavy loads, a significant challenge associated with ITER’s maintenance scheme. areas needing scheduled maintenance work – in-vessel components, neutral beam injector, hot cells – introduction of man-in-the-loop technologies would provide very useful help in case of unexpected events. The focus of this work is the problem of vibrations experienced when handling heavy loads using flexible robotic structures. Vibrations are induced during start and stop movements, high accelerations or in the case of collision. It is therefore necessary to develop strategies to remove undesired effects of stimulating dynamics or critical trajectories. is of previous works on flexible arms proves that model-based control of light structures gives good performance providing that dynamic terms take into account the compliance of the joints and the structural deformation.