Abstract
The digital twin has been attracting attention in various industrial fields, including decommissioning nuclear power plants. In this study, an environment including a multi-axis robot manipulator for dismantling nuclear power plants and reactor vessel internals (RVIs), one of the major nuclear power plant facilities, is implemented virtually using Unity, and a multi-axis manipulator with complex and non-linear characteristics is evaluated for the disturbance effects. Integral sliding mode control (ISMC) that enables robust control without the robot dynamic model information was applied to the virtual RVIs environment. It demonstrated strong performance against disturbance compared with the existing PID control even if the dynamic model informations were not used. Moreover, the repulsive force is transmitted to the haptic device using the haptic feedback algorithm when the robot manipulator collides with the surrounding environment.
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