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Report No.

R&D of remote maintenance robot for International Thermonuclear Experimental Fusion Reactor (ITER)

Maruyama, Takahito; Aburadani, Atsushi; Takeda, Nobukazu; Kakudate, Satoshi

The experimental fusion reactor "ITER", which is being built in France, is going to be maintained by robots because the working environment is radioactive. We have developed a robot manipulator to investigate the feasibility of robotic maintenance of the ITER. As the positioning method of the manipulator, we adopted virtual reality, robot vision and force control. This manuscript intends to discuss the inaccuracy of robot vision with regard to calibration error.



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