Title :
Development of a control system for master-slave operation
Author :
Lee, Jong Kwang ; Park, Byung Suk ; Lee, Hyo Jik ; Kim, Kiho ; Kim, Ho Dong
Author_Institution :
Fuel Cycle Syst. Eng. Technol. Dev. Div., Korea Atomic Energy Res. Inst., Daejeon, South Korea
Abstract :
A prototype of a master-slave servo manipulator system has been developed for the use in the PRIDE (PyRoprocess Integrated inactive DEmonstration) facility where the integrated performance of full pyroprocess flow will be verified. The PRIDE facility is designed to have an argon-atmosphere cell which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. In this work, we present the development of a remote control system for a bridge transported dual arm servo-manipulator.
Keywords :
control system synthesis; dexterous manipulators; maintenance engineering; servomechanisms; telerobotics; PRIDE; argon-atmosphere cell; bridge transported dual arm servo-manipulator; master-slave servo manipulator system; process equipment maintenance; pyroprocess flow; pyroprocess integrated inactive demonstration; remote control system development; Cameras; Control systems; Force; Joints; Manipulators; Master-slave; Reflection; PRIDE facility; remote control; servo-manipulator;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
