Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration

Ewing, Thomas F. ; Colgate, J. Edward ; Park, Young S. ; Peshkin, Michael A.

Argonne National Laboratory

关键词: Decontamination;    Robots;    Computerized Control Systems;    42 Engineering;    Remote Control;   

DOI  :  10.2172/839105
RP-ID  :  EMSP-82723--2004
RP-ID  :  FG07-01ER63288
RP-ID  :  839105

美国|英语

来源: UNT Digital Library

【 摘 要 】

The purpose of the work is to enhance remote operations of robotic systems for D&D tasks by extending teleoperation with semi-autonomous functions. The work leverages the $1.2M dual-arm work platform (DAWP) developed with broad participation for the CP5 D&D, as well as 2,000 hr DAWP D&D operational experience. We propose to develop a reactive, agent-based control architecture well suited to unstructured and unpredictable environments, and robot control technology, which implements a virtual fixture that can be used to guide the application of tools with force-feedback control. Developed methodologies will be implemented using a structured light sensor and robot hand controller on the dual-arm system.