Published June 1, 2004 | Version v1
Report Metadata-only

Remote Manipulation for DandD Exhibiting Teleautonomy and Telecollaboration

Creators

Description

The purpose of the work is to enhance remote operations of robotic systems for DandD 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 DandD, as well as 2,000 hr DAWP DandD 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

Availability note (English)

Available from PURL: https://www.osti.gov/servlets/purl/839105-0t4Uk7/native/

Additional details

Identifiers

URL
https://www.osti.gov/servlets/purl/839105-0t4Uk7/native/;

Publishing Information

Imprint Pagination
[vp.]
Report number
EMSP--82723-2004

INIS

Country of Publication
United States
Country of Input or Organization
United States
INIS RN
36052671
Subject category
S42: ENGINEERING;
Resource subtype / Literary indicator
Non-conventional Literature
Descriptors DEI
COMPUTERIZED CONTROL SYSTEMS; DECOMMISSIONING; DECONTAMINATION; REMOTE CONTROL; ROBOTS
Descriptors DEC
CLEANING; CONTROL; CONTROL SYSTEMS; EQUIPMENT; ON-LINE CONTROL SYSTEMS; ON-LINE SYSTEMS

Optional Information

Contract/Grant/Project number
FG--07-01ER63288
Funding organization
USDOE Office of Science SC (United States)