Abstract-This work is devoted to creation of transport and manipulation robotic system (TMS) to work on the surface of the spacecraft. Undoubtedly, the TMS is a powerful tool in solving problems of the study of space, so it is evident that the role of space robotics is continuously increasing due to the need to develop and maintain global communications, navigation and surveillance, permanent manned and visited space stations and bases on the Moon and on the planets of the solar system. As a basic model of a transport subsystem we proposed the symmetrical structure with seven degrees of freedom. The paper describes the structure of the system and provides its kinematics. The article presents the data obtained from the simulation in the MSC.ADAMS package. Thanks to the simulation were obtained predictive characteristics and defined functions of the robotic system. This allowed us to define a technical way to create transport and manipulation robotic system to service the outer surface of the spacecraft. Also this paper deals with the grouped operation of interacting objects (manipulators). These methods of grouped operation are mainly used to control groups of mobile robots, but as specified in [1.2], the general principles of control of the group interaction do not depend on the physical nature (and moreover on the kinematic characteristics) of the interacting objects.

The article deals with the application of mobile robotic systems (UGV) during the decommissioning of nuclear industry and energy facilities. It is shown that, in contrast to the recovery from accidents, when usually the work is carried out in an unknown unstructured environment, which implies damage to buildings, blockages, flood zones, etc., decommissioning is carried out in a rather complex, but well known environment according to a pre-developed plan. The general requirements for such UGVs are discussed, based on the features and practice of their application.

The performance of works within the framework of technological operations of the closed nuclear fuel cycle of an industrial power complex is inevitably associated with the effects of an external factors that have a significant impact on the technological process. Thus, human participation should be minimized, mechanical and electromechanical systems should be included in the process, in particular, means of robotics. When creating a deserted technology, the issue of automation of the process comes to the fore, including with the use of robotic systems that solve transport, service, inspection tasks, including tasks directly related to the technological process. Special requirements are also imposed on the materials used. The processing of the vitrification of high-level waste is being considered in this work. Such a glazing site by the IMCC method was created by specialists of JSC «VNIINM». In this work, the analysis of the current technical process of the work of this site is carried out, proposals for optimizing the performance of individual operations are issued, recommendations for retrofitting the site are given. Based on the test results of the demonstration stand, proposals were formulated for the automation of the glazing section, taking into account the environmental factors that take place on a real installation, and taking into account the results obtained as a result of the mock-up tests.

The article addresses the matter of the mobile robotic systems (MRS) application at nuclear industry and nuclear energy facilities. Three main types of tasks solved with the help of MRS in order to ensure safety and reduce the radiation load on personnel are described. The scope of application and general requirements for such MRS, typical technological operations, control modes and human-robot interaction are discussed. It is shown that highly specialized robots are mainly used and that their design doesn’t imply a prompt replacement of the payload and adaptation to various tasks. It is noted that most of the modern MRS designed to operate at radiation-hazardous facilities are still teleoperated. The necessity of creating multifunctional modular reconfigurable MRS of various standard-size groups for use at nuclear facilities and increasing the level of their autonomy is substantiated. Key words Mobile robotic system, UGV, nuclear facility, teleoperation, supervisory control. Acknowledgements This work was carried out within the framework of the state assignment of the Ministry of Education and Science of Russia No. 075-00913-21-00 dated December 25, 2020 «Development of proposals for improving the state scientific, technical and industrial policy and popularizing achievements in the field of robotics based on an analysis of trends in the development of robotics in Russia and abroad».