Title: Dynamics Simulation for the Training of Teleoperated Retrieval of Spent Nuclear Fuel
Citation: Robotics and Automation (ICRA), 2012 IEEE International Conference on p. 5012-5017
Publisher: IEEE Conference Publications
Publication Year: 2012
JRC N°: JRC68497
ISBN: 978-1-4673-1405-3
URI: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6224886
DOI: 10.1109/ICRA.2012.6224886
Type: Articles in periodicals and books
Abstract: This paper addresses the problem of training of operators for telemanipulation tasks. In particular it describes the development of a physics based virtual environment that allows a user to train in the control of an innovative robotic tools designed for the retrieval of spent nuclear fuels. The robotic device is designed to adapt to very different environments, at the cost of an increased complexity in its control. The virtual environment provides realistic simulation of robot dynamics. The two most challenging tasks related to robot control have been identified and implemented in the simulation, leading to an effective tool for the training. The developed application is described in details and the outcome of one simulated intervention is proposed and analyzed in terms of user interaction and realism.
JRC Directorate:Nuclear Safety and Security

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