Hand-eye coordinative remote maintenance in a tokamak vessel

The reliability is vitally important for the remote maintenance in a tokamak vessel. In order to establish a more accurate and safer remote handling system, a hand-eye coordination method and an artificial potential function based collision avoidance method were proposed in this paper. At the end of this paper, these methods were implemented to a bolts tightening maintenance task, which was carried out in our 1/10 scale tokamak model. Experiment results have verified the value of the hand-eye coordination method and the collision avoidance method.