A comparative study of manipulator teleoperation methods for debris retrieval phase in nuclear power plant decommissioning. (3rd May 2023)

• Record Type: Journal Article
• Authors: Mizuno, Naoki; Tazaki, Yuichi; Hashimoto, Tatsuya; Yokokohji, Yasuyoshi
• Is Part Of: Advanced robotics. Volume 37:Number 9(2023)
• Page Start: 541
• Page End: 559
• Publication Date: 2023-05-03
• Subjects: Robotic manipulator -- teleoperation -- nuclear power plant decommissioning -- trajectory planning; Robotics -- Periodicals; Robotics -- Japan -- Periodicals; Robotics; Japan; Periodicals; 629.89205
• DOI: 10.1080/01691864.2023.2169588
• Languages: English
• ISSNs: 0169-1864

Abstract

ABSTRACT: This paper presents a comparative study of teleoperation methods of robotic manipulators aiming at application to the decommissioning operation of the primary containment vessel (PCV) of Fukushima Daiichi Nuclear Power Plant Unit 3. A detailed set of mockup is constructed from data collected by internal investigation of the damaged PCV, and a series of teleoperation experiments using a dual-arm robotic manipulator simulating the actual obstacle removal operation is conducted. Three teleoperation methods, manual, teaching-based, and planning-based, are compared in terms of multiple performance indices. The manual teleoperation resulted in low efficiency and safety, and high cognitive load. The method based on pre-recorded teaching data showed the highest safety score, but required large amount of time for preparation. The planning-based method achieved efficient teleoperation with small amount of preparation time, while it was found that it needs further improvement in terms of safety. GRAPHICAL ABSTRACT: UF0001