Mobile robots are used in many hazardous environments, including explosive ordnance disposal, military reconnaissance, natural disaster search and rescue, and in the nuclear decommissioning sector. This paper considers a high level supervisory control system for nuclear decommissioning robotic tasks, such as pipe cutting, remote wielding, and scanning. Hence, in addition to consideration of the kinematics, the paper presents a literature review relating to robotics in the nuclear industry. Finally, the paper comments on the use of the HydroLek/Brokk demonstrator as a tool for university teaching, undergraduate project work and for stimulating the interest of young people in engineering more generally.