ITER Divertor Maintenance: Development of a Control System for the Remote Handling of the Divertor Cassette Mover

Remote handling devices are being used to carry out the maintenance tasks in the divertor area of the ITER. One of the main challenging operations is the installation and transportation of Divertor Cassettes in and out from the vessel. This paper deals with the development of the control system for such remotely operated devices, with special emphasis on the tools, mock-ups and virtual prototypes employed to develop the high level control software and the water-hydraulics position servos controllers. Preliminary studies showing the effect of irradiation in hydraulic cylinder seals are also presented.