Design and implementation of remote robotic control system for nuclear power plant application achieved through kinesthetic force feedback model

Abstract

The technology of telerobotic control through a universal and transparent man-machine interface is a growing field of robotics research in today's industrial scenario because of its promising application in hazardous and unstructured environments. The joystick, a sophisticated information receiver-translator-transmitter device, serves as a man-machine interface for telerobots. The present paper describes the developmental paradigms of a remote control system for a planar four degrees of freedom joystick following position feedforward force/torque feedback strategy in a bi-lateral mode. This joystick-based control technology is designed to actuate an industrial robot working in a nuclear power plant. The remote control system has been illustrated with a model, algorithm, electronic hardware and software routine along with experimental results in order to have effective telemanipulation.