Test methods for robots for nuclear emergency response and decommissioning; Test for maneuvering robot arm over an obstacle (JAEA-TM-0006)

Yamada, Taichi ; Kawabata, Kuniaki   ; Abe, Hiroyuki*

This report describes the test procedures for evaluating performances involved in robot arm maneuvering of remotely operated robot utilized for nuclear emergency responses and decommissioning. After the accident at Fukushima Daiichi Nuclear Power Station of the Tokyo Electric Power Company Holdings Inc. (FDNPS) occurred, remotely operated robots have been deployed and utilized in the response tasks. Such post-accident work experience and lessons learned are very valuable for developing the robots in the future. Therefore, we were motivated to develop the test methods for performance evaluation of the robot by referring with such experiences and lessons. In the response and the decommissioning tasks, robots with a robot arm were deployed for door opening, removal objects, decontamination and cleanup and so on. Some of these tasks were conducted in an environment with obstacles by robot arms maneuvering. This report describes test procedures for quantitatively evaluating the performances which are for maneuvering involving in robot arm to approach target objects in an environment with obstacles. A typical course layout and the demonstration of test are also illustrated for the references.