Traditionally, the Master Slave Manipulator (MSM), installed through the standard wall-sleeve, is used as dexterous, remote handling tool inside the hotcells for carrying out various operations. The next generations of manipulators are the electrically powered servo manipulators, which are installed fully inside the hotcells, usually on a movable platform or gantry, thus providing larger flexibility and reach. However large numbers of hotcells in the nuclear industry are designed for the use of

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... wall mounted manipulators. The need for extending the superior features of a servo-manipulator to the wall mounted MSMs led to the conceptualization and development of the Four Piece Servo Manipulator (FPSM). The FPSM, which can be installed in the hotcell through a standard wall sleeve, is a bilateral master-slave servo-manipulator with force feedback. The FPSM control system is based on a tightly coupled distributed digital micro-processing technique. The paper describes the overall design and implementation of FPSM.