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Title: Applications of intelligent telerobotic control

Abstract

The telerobotics laboratory at Lawrence Livermore National Laboratory is a facility for developing and testing new concepts in robotics controls. Research and development is being conducted in computer vision; adaptive control; software architectures for real-time, intelligent control; artificial neural networks; fuzzy logic controllers; telepresence; and path planning and collision avoidance. The equipment in the telerobotics laboratory includes a six degree of freedom articulating robot arm with controller, gripper, and force and torque sensor; a 3D CAD workstation with software to model the work cell environment and simulate the robot dynamics; a six degree of freedom forceball for operator input to the telerobotics controller and the robot simulation; and a computer with a real-time operating system. Soon to be added are a 3D viewing system and a force reflecting hand controller. This paper describes one of the research and development efforts currently in progress on this program. 3 refs., 3 figs.

Authors:
; ;
Publication Date:
Research Org.:
Lawrence Livermore National Lab., CA (United States)
Sponsoring Org.:
USDOE; USDOE, Washington, DC (United States)
OSTI Identifier:
6090047
Report Number(s):
UCRL-JC-108589
ON: DE92004655
DOE Contract Number:  
W-7405-ENG-48
Resource Type:
Technical Report
Country of Publication:
United States
Language:
English
Subject:
98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL PROTECTION; 42 ENGINEERING; ROBOTS; REMOTE CONTROL; WASTES; REMOTE HANDLING; ARTIFICIAL INTELLIGENCE; COMPUTERIZED CONTROL SYSTEMS; DEGREES OF FREEDOM; FEEDBACK; FUZZY LOGIC; MAN-MACHINE SYSTEMS; MANIPULATORS; NAVIGATION; NEURAL NETWORKS; REAL TIME SYSTEMS; REMOTE HANDLING EQUIPMENT; VISION; CONTROL; CONTROL SYSTEMS; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; MATHEMATICAL LOGIC; ON-LINE CONTROL SYSTEMS; ON-LINE SYSTEMS; 055001* - Nuclear Fuels- Safeguards, Inspection, & Accountability- Technical Aspects; 420203 - Engineering- Handling Equipment & Procedures

Citation Formats

Herget, C J, Grasz, E L, and Merrill, R D. Applications of intelligent telerobotic control. United States: N. p., 1991. Web.
Herget, C J, Grasz, E L, & Merrill, R D. Applications of intelligent telerobotic control. United States.
Herget, C J, Grasz, E L, and Merrill, R D. 1991. "Applications of intelligent telerobotic control". United States.
@article{osti_6090047,
title = {Applications of intelligent telerobotic control},
author = {Herget, C J and Grasz, E L and Merrill, R D},
abstractNote = {The telerobotics laboratory at Lawrence Livermore National Laboratory is a facility for developing and testing new concepts in robotics controls. Research and development is being conducted in computer vision; adaptive control; software architectures for real-time, intelligent control; artificial neural networks; fuzzy logic controllers; telepresence; and path planning and collision avoidance. The equipment in the telerobotics laboratory includes a six degree of freedom articulating robot arm with controller, gripper, and force and torque sensor; a 3D CAD workstation with software to model the work cell environment and simulate the robot dynamics; a six degree of freedom forceball for operator input to the telerobotics controller and the robot simulation; and a computer with a real-time operating system. Soon to be added are a 3D viewing system and a force reflecting hand controller. This paper describes one of the research and development efforts currently in progress on this program. 3 refs., 3 figs.},
doi = {},
url = {https://www.osti.gov/biblio/6090047}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Oct 01 00:00:00 EDT 1991},
month = {Tue Oct 01 00:00:00 EDT 1991}
}

Technical Report:
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