A remote handling system based on the Man-In-The-Loop principle implemented with two bi-lateral force reflecting servo-manipulators working under Master-Slave mode has been recommended. The slave servo-manipulators will be commanded by remote operators using kinematically identical master manipulators supported with closed cycle TV (CCTV) feedback. The manipulators will have additional robotic capabilities to maximise operational capabilities.
The slave manipulators will be positioned close to the task environment by means of remotely controlled transporters with sufficient reach and degrees of freedom to position the slaves at all relevant locations around the machine. The concept relies on the ability of the servo-manipulators and the video feedback systems to create a sense of presence for the operators at the task location. The remote manipulators and transporters will have computer controlled features which will enhance and simplify the operations. The proposed remote handling concept is capable of performing all primary tasks on the machine and also a range of secondary and recovery tasks required to support the operation of MYRRHA.