Robust haptic large distance telemanipulation for ITER


During shutdowns, maintenance crews are expected to work in 24/6 shifts to perform critical remote handling maintenance tasks on the ITER system. In this article, we investigate the possibility to safely perform these haptic maintenance tasks remotely from control stations located anywhere around the world. To guarantee stability in time delayed bilateral teleoperation, the symmetric position tracking controller using wave variables is selected. This algorithm guarantees robustness against communication delays, can eliminate wave reflections and provide position synchronization of the master and slave devices. Experiments have been conducted under realistic local network bandwidth, latency and jitter constraints. They show sufficient transparency even for substantial communication delays.