Dual-Arm Telerobotic Platform for Robotic Hotbox Operations for Nuclear Waste Disposition in EM Sites

TL;DR

This paper presents a dual-arm telerobotic system designed for safe and efficient nuclear waste handling in hot cell environments, enhancing remote operation capabilities at EM sites.

Contribution

The paper introduces a novel dual-arm telerobotic platform with integrated software for precise, real-time remote control of nuclear waste operations in hazardous environments.

Findings

System effectively performs hotbox operations in tests

Enhanced dexterity and situational awareness for teleoperators

Potential for deployment in real EM nuclear sites

Abstract

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.