Design of an obstacle avoidance system for AIMS
The Advanced Integrated Maintenance System (AIMS) is a remote maintenance system that uses a dual-arm teleoperator to control the Advanced Servomanipulator (ASM). Although, the ASM was designed for nuclear fuel reprocessing, it can provide a testbed for space telerobotics (space servicing and assembley). The objective of this project is to design and implement a generalized capability for automatic path-planning and obstacle avoidance during motion of the manipulator transporter (overhead crane and main manipulator shaft) from one work location in the hotcell to another. The work is to be accomplished in two phases. In the first phase, the transporter will move in a known world. In the second phase, sensor data will be used to update and verify the world model and the system will have the capability to avoid unexpected obstacles. This paper describes the design and initial development of a system for phase one. 3 refs., 2 figs.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6792135
- Report Number(s):
- CONF-881116-2; ON: DE88016783
- Resource Relation:
- Conference: Advances in intelligent robotics systems, Cambridge, MA, USA, 6 Nov 1988; Other Information: Portions of this document are illegible in microfiche products
- Country of Publication:
- United States
- Language:
- English
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