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- Publisher Website: 10.1109/IECON.2001.976524
- Scopus: eid_2-s2.0-0035695341
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Conference Paper: Force control of remote maintenance robot for the ITER
Title | Force control of remote maintenance robot for the ITER |
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Authors | |
Issue Date | 2001 |
Citation | IECON Proceedings (Industrial Electronics Conference), 2001, v. 3, p. 450-455 How to Cite? |
Abstract | This paper proposes a force control scheme of remote maintenance robot for the nuclear fusion reactor. In the International Thermonuclear Experimental Reactor (ITER), remote maintenance system which can perform assembly of heavy object in high positioning accuracy is required. For this kind of task, force control is much preferable to position control. We applied force control to experimental blanket handling system and performed several experiments of assembly of dummy blanket. The experimental results illustrate the validity of the force control for the task. |
Persistent Identifier | http://hdl.handle.net/10722/302706 |
DC Field | Value | Language |
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dc.contributor.author | Takeo, Koji | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Shibanuma, Kiyoshi | - |
dc.contributor.author | Oka, Kiyoshi | - |
dc.date.accessioned | 2021-09-07T08:42:26Z | - |
dc.date.available | 2021-09-07T08:42:26Z | - |
dc.date.issued | 2001 | - |
dc.identifier.citation | IECON Proceedings (Industrial Electronics Conference), 2001, v. 3, p. 450-455 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302706 | - |
dc.description.abstract | This paper proposes a force control scheme of remote maintenance robot for the nuclear fusion reactor. In the International Thermonuclear Experimental Reactor (ITER), remote maintenance system which can perform assembly of heavy object in high positioning accuracy is required. For this kind of task, force control is much preferable to position control. We applied force control to experimental blanket handling system and performed several experiments of assembly of dummy blanket. The experimental results illustrate the validity of the force control for the task. | - |
dc.language | eng | - |
dc.relation.ispartof | IECON Proceedings (Industrial Electronics Conference) | - |
dc.title | Force control of remote maintenance robot for the ITER | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/IECON.2001.976524 | - |
dc.identifier.scopus | eid_2-s2.0-0035695341 | - |
dc.identifier.volume | 3 | - |
dc.identifier.spage | 450 | - |
dc.identifier.epage | 455 | - |