Dual-Arm Telerobotic Platform for Robotic Hotbox Operations for Nuclear Waste Disposition in EM Sites

原文アブストラクト

This paper introduces a dual-arm telerobotic platform designed to efficiently and safely execute hot cell operations for nuclear waste disposition at EM sites. The proposed system consists of a remote robot arm platform and a teleoperator station, both integrated with a software architecture to control the entire system. The dual-arm configuration of the remote platform enhances versatility and task performance in complex and hazardous environments, ensuring precise manipulation and effective handling of nuclear waste materials. The integration of a teleoperator station enables human teleoperator to remotely control the entire system real-time, enhancing decision-making capabilities, situational awareness, and dexterity. The control software plays a crucial role in our system, providing a robust and intuitive interface for the teleoperator. Test operation results demonstrate the system's effectiveness in operating as a remote hotbox for nuclear waste disposition, showcasing its potential applicability in real EM sites.