Development of a control system for master-slave operation

A prototype of a master-slave servo manipulator system has been developed for the use in the PRIDE (PyRoprocess Integrated inactive DEmonstration) facility where the integrated performance of full pyroprocess flow will be verified. The PRIDE facility is designed to have an argon-atmosphere cell which prohibits direct access by human operators. Therefore, all the operation and maintenance of the process equipment is performed remotely through a master-slave manipulation. In this work, we present the development of a remote control system for a bridge transported dual arm servo-manipulator.