Remote handling test and full-scale equipment development for ITER blanket maintenance

The technology of handling a 1-ton payload has been demonstrated using prototype transporter and manipulator/end-effector. Efforts have been made to develop an automatic procedure for module gripping and installation using sensor based feedback control. In this test, the end-effector is automatically aligned both in position and orientation relative to the module gripping points. This paper describes the prototype test results on sensor based control and the status of the test platform fabrication for ITER blanket remote maintenance.