Experimental Evaluation of Manipulator Teleoperation System Based on Trajectory Planning for Obstacle Removal Task in Nuclear Plant Decommissioning

In the teleoperation system of a dual-arm manipulator developed to retrieve fuel debris and reactor interior structures at the Fukushima Daiichi Nuclear Power Plant, we used software in which an obstacle avoidance function (trajectory planning) was implemented to conduct a mock test simulating obstacle removal operations in narrow spaces. The test results confirmed the validity of the obstacle avoidance function, the executability of a series of necessary tasks, and the improved operability. In addition, issues were identified using the test data.