Human-Machine Interaction Control System of a Remote Maintenance Manipulator for Tokamak

This paper presents the development of human-machine interaction control system of a remote maintenance manipulator for tokamak utilizing virtual reality. The human-machine interaction control system aims to achieve three major functions as virtual simulation, human-machine interaction, and collision detection. The graphical user interface of the control system is developed with the aid of the software Unity3D. In order to simplify system operations and improve user experience, 3D mouse and somatosensory controllers are adopted to realize scene exploration in the virtual environment and master-slave interaction control of the manipulators. A typical maintenance task is simulated using the human-machine interaction control system. The results indicate that the developed control system can help improve the safety and efficiency of remote maintenance operations significantly.