CONTROL SYSTEM OF NUCLEAR-REACTOR FUEL EXCHANGER

摘要

A method and an apparatus for controlling a reactor refuelling machine including a plurality of grippers comprised of a plurality of telescopic bars which are telescopically actuatable independently of each other and at least one gripping member mounted to each telescopic bar. A decision is made as to whether the movement of a particular gripper in the Z direction is constrained by a status of the movement of a different gripper. The parallel operation is performed when the movement of the particular gripper in the Z direction is not constrained and when constrained, the particular gripper is placed in condition for waiting.