Robot vision system R&D for ITER blanket remote-handling system

For regular maintenance of the International Thermonuclear Experimental Reactor (ITER), a system called the ITER blanket remote-handling system is necessary to remotely handle the blanket modules because of the high levels of gamma radiation. Modules will be handled by robotic power manipulators and they must have a non-contact-sensing system for installing and grasping to avoid contact with other modules. A robot vision system that uses cameras was adopted for this non-contact-sensing system. Experiments for grasping modules were carried out in a dark room to simulate the environment inside the vacuum vessel and the robot vision system's measurement errors were studied. As a result, the accuracy of the manipulator's movements was within 2.01 mm and 0.31 degrees, which satisfies the system requirements. Therefore, it was concluded that this robot vision system is suitable for the non-contact-sensing system of the ITER blanket remote-handling system. (C) 2014 Elsevier B.V. All rights reserved.