双机械臂遥操作平台提升核废料处置安全与效率
Dual-Arm Telerobotic Platform for Robotic Hotbox Operations for Nuclear Waste Disposition in EM Sites
- 双机械臂设计增强复杂环境下的操作灵活性
- 远程操控站实现实时决策与精准作业
- 软件系统提供直观界面，适配核废料处理场景
本文提出一种用于能源部（EM）现场核废料处置的双机械臂遥操作平台。该系统由远程机器人平台和遥控操作站组成，通过统一软件架构实现整体控制。双机械臂配置提升了在复杂危险环境中任务执行的灵活性与操作精度，有效处理核废料。遥控操作站使操作员能实时远程控制，增强态势感知、决策能力与操作灵巧性。控制软件提供稳定且直观的人机交互界面。测试结果表明，该系统可有效作为远程热室执行核废料处置任务，具备在真实EM站点应用的潜力。
原文摘要 · Abstract (English)
This paper introduces a dual-arm telerobotic platform designed to efficiently and safely execute hot cell operations for nuclear waste disposition at EM sites. The proposed system consists of a remote robot arm platform and a teleoperator station, both integrated with a software architecture to control the entire system. The dual-arm configuration of the remote platform enhances versatility and task performance in complex and hazardous environments, ensuring precise manipulation and effective handling of nuclear waste materials. The integration of a teleoperator station enables human teleoperator to remotely control the entire system real-time, enhancing decision-making capabilities, situational awareness, and dexterity. The control software plays a crucial role in our system, providing a robust and intuitive interface for the teleoperator. Test operation results demonstrate the system's effectiveness in operating as a remote hotbox for nuclear waste disposition, showcasing its potential applicability in real EM sites.
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