Precision Control of a Slender High Payload 22 DoF Nuclear Robot System: TARM Re-ascending - 18346

The DEMO Remote Maintenance System (RMS) functional requirements represent a truly extreme environment. In the current design of the in-vessel RMS, blanket segment maintenance represents one of the most challenging tasks overall. As part of the JET (Joint European Torus) project, an ambitious 22 DoF transporter was created, the TARM (Telescopic Articulated Remote MAST). The TARM has been identified as a suitable test bed for the early development and verification of the control system and structural simulators. This paper outlines the development of the TARM into a multi-purpose test-rig for Precision Control of a Slender High Payload large DoF Nuclear Robot System. (authors)