An adaptable manipulator control system for nuclear intervention

The paper presents the development and production of a digital controller offering operators, humans or processors, position, speed and force control in a multivariable environment. The controller is designed as the foundation block of a man-machine interface, reducing inputs to a minimum, while maintaining a high degree of control over the machine. Developed originally for the control of hydraulic manipulators for nuclear and/or underwater environments, the controller is now also applied to a roving vehicle designed for remote intervention in highly irradiated zones. (author)