Patent Number: 
Section: claims

1. A method of permitting movement of a nuclear reactor component within a nuclear reactor, comprising:sensing a mast and grapple location;sensing a grapple orientation by configuring a cam, attached to a gimbal plate, such that the cam and the gimbal plate rotate in unison and in response to an angular rotation of the grapple while detecting a position of the cam using a plurality of switches positionable in proximity to the gimbal plate, the cam, the gimbal plate and the grapple configured to rotate bi-directionally and in a same direction with each other;calculating whether the sensed location and the sensed orientation, respectively, match a requested pick-up location and a requested pick-up orientation; andprohibiting lowering and grasping of the grapple, unless the sensed location and sensed orientation match the requested pick-up location and the requested pick-up orientation. 2. The method of claim 1, further comprising:inputting a plurality of requested pick-up locations and requested pick-up orientations, and the sequential order of the pick-up locations, using a user interface. 3. The method of claim 2, wherein the requested pick-up location and the requested pick-up orientation correspond to the pick-up locations and orientations of nuclear reactor components described on a nuclear reactor move-sheet. 4. The method of claim 1, further comprising:displaying the sensed location and the sensed orientation on a user interface screen. 5. A method of permitting movement of a nuclear reactor component within a nuclear reactor, comprising:sensing a mast and grapple location;sensing a grapple orientation by configuring a cam, attached to a gimbal plate, such that the cam and the gimbal plate rotate in unison and in response to an angular rotation of the grapple while detecting a position of the cam using a plurality of switches positionable in proximity to the gimbal plate, the cam, the gimbal plate and the grapple configured to rotate bi-directionally and in a same direction with each other;calculating whether the sensed location and the sensed orientation, respectively, match a requested drop-off location and a requested drop-off orientation;prohibiting the lowering and grasping of the grapple, unless the sensed location and the sensed orientation match the requested drop-off location and the requested drop-off orientation. 6. The method of claim 5, further comprising:inputting a plurality of requested pick-up locations and requested pick-up orientations, and the sequential order of the pick-up locations, using a user interface. 7. The method of claim 6, wherein the requested pick-up location and the requested pick-up orientation correspond to the pick-up locations and orientations of nuclear reactor components described on a nuclear reactor move-sheet. 8. The method of claim 5, further comprising:displaying the sensed location and the sensed orientation on a user interface screen.