Performance evaluation on force control for ITER blanket installation

The most critical issue for the ITER blanket installation is to avoid any jamming between the blanket modules and the keys as a result of excessive loading during the module installation process. This is complicated by the limited clearance of 0.5 mm between the modules and the keys. To solve these technical issues, force control, such as controlling the torque for the AC servo motors, was developed to reduce excessive loads which may have an impact on the end-effector and to defer the forces acting on the groove of the blanket. This jam prevention force control method is directly measured and controlled by AC servo motor controllers. The AC servo motors are equipped to move the manipulator and end-effector during module installation.