Auto mode switch on force threshold
A bilateral controller for CFETR remote handling that naturally switches between velocity and admittance control when force exceeds a threshold, ensuring operational safety.
Zhang, Jun · Ke, Wu · Zhang, Xuanchen · Han, Hao · Zhang, Tao · Wei, Zhang · Yong, Cheng · Lu, Kun
Nuclear Engineering and Technology 2025
Velocity control applied when force is below a predetermined value, otherwise admittance control
Effectiveness of NSVAC validated through simulation and experiments
Meets practical operational requirements and ensures safety throughout the process