Abstract
A fail-safe tele-autonomous robotic system is proposed for use in advanced nuclear reprocessing facilities. The design exploits the technologies developed for space telerobotics. The target system consists of a graphical user interface for an operator to execute robotic tasks, hand controllers for teleoperation, a three-dimensional graphical simulator, and robot control software to drive both the graphical simulation and dual six degree-of-freedom robots to perform tasks using autonomous, teleoperated, and shared control modes. A preliminary design for a safety monitoring system for fail-safe operations is also described.
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