核融合実験炉の遠隔保守作業に対するリアルタイムシミュレータを用いた実現性検討(機械力学,計測,自動制御)

概要

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The maintenance manipulator for the experimental fusion reactor has long vertical and horizontal telescopic booms to access the neutral beam injector of the fusion reactor. Due to this boom structure, the vibration and deflection of the manipulator are the critical issues for the accurate operation. A real-time simulation system was constructed to evaluate the maneuverability of the manipulator under these vibration and deflection. In this simulation system, the dvnamic behavior of the flexible manipulator is calculated synchronized with the real-time control input of the human operator. A vibration and position compensation method was adapted to improve the maneuver-ability. Through the evaluation using the real-time simulation system, it was verified that the manipulator is maneuverable by using vibration and position compensation.
社団法人日本機械学会の論文
2004-12-25