Title :
Active docking of a transport cask vehicle subject to 6 degrees of freedom misalignments
Author :
Ribeiro, M. Isabel ; Lima, Pedro ; Aparicio, Pedro ; Ferreira, Renato
Author_Institution :
Inst. Superior Tecnico, Lisbon, Portugal
Abstract :
This paper presents a study on the docking of a mobile platform to a docking port where six degrees of freedom misalignments may occur in the general case. This study is motivated by a requirement of ITER, where mobile platforms are required for cask transference between the Vacuum Vessel and the Hot Cell Building
Keywords :
Tokamak devices; nuclear materials transportation; 6 degrees of freedom misalignments; ITER; docking; mobile platform; six degrees of freedom misalignments; transport cask vehicle; Buildings; Contracts; Control systems; Layout; Remote handling; Space stations; Teleoperators; Vehicles;
Conference_Titel :
Fusion Engineering, 1997. 17th IEEE/NPSS Symposium
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4226-7
DOI :
10.1109/FUSION.1997.687787
