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The objective of the study reported here was to perform an additional qualification of the RD 500 underwater task according to two criteria: improvement of displacement safety in order to avoid collisions and increased efficiency through easy designation on a model of the robot and its environment.

The representative task chosen was the dismantling of internal pressurized water reactor (PWR) structures by unscrewing. Precise location of the designated screw was determined with the help of the ultrasonic vision system, scanning being performed by the sole displacement of the robot.

The first task was to specify the geometric model sub-system and associated new functions as well as the interface between the teleoperation system and the vision sub-system.

After the development of these new functionalities and delivery of the mock-up and tools, tests were performed in air and underwater.

Significant results were the reliability of the teleoperation system and improved efficiency in the performance of the task, due to the use of a 3-dimensional graphic model which enables the operator to avoid colllisions. isions.

Additional information

Authors: VILLEDIEU E, CEA, CEN Fontenay-aux-Roses (FR);MERCIER O, Framatome, DSN, Lyon (FR);VOS H, TNO Institute of Applied Physics, Delft (NL)
Bibliographic Reference: EUR 16974 EN (1996) 30pp., FS, ECU 7.00
Availability: Available from the (2)
ISBN: ISBN 92-827-8429-0
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