Modified impedance control for robotic saw cutting: Simulation and implementation in three degrees of freedom
- Westinghouse Savannah River Co., Aiken, SC (United States)
- Clemson Univ., SC (United States). School of Electrical and Computer Engineering
The Savannah River Site (SRS) production and decommissioning operations produce solid radioactive transuranic (TRU) waste. This waste must be repackaged and sent to the Waste Isolation Pilot Plant (WIPP) for permanent disposal. The Savannah River Technology Center (SRTC) built a test facility to demonstrate simulated waste processing. The test facility use`s a CIMCORP multi-axis robot system, a CIMROC{trademark} II robot controller, and an electric circular saw to remotely open and size reduce plywood crates. The robot can either be teleoperated using joysticks or autonomously controlled via the, CIMROC{trademark} II. Both methods are inadequate for circular saw cutting of plywood crates due to frequent saw blade binding. Blade binding results from the current commercial robot controller limitations. The limitations are overcome by incorporating additional sensor information into the existing controller structure. In this paper we utilize a force sensor and a frequency counter to implement a modified impedance controller which prevents saw blade binding.
- Research Organization:
- Westinghouse Savannah River Co., Aiken, SC (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC09-89SR18035
- OSTI ID:
- 10191318
- Report Number(s):
- WSRC-MS-92-371; CONF-930403-1; ON: DE93002162
- Resource Relation:
- Conference: 5. topical meeting on robotics and remote systems,Knoxville, TN (United States),26-29 Apr 1993; Other Information: PBD: [1993]
- Country of Publication:
- United States
- Language:
- English
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Related Subjects
12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES
CUTTING TOOLS
AUTOMATION
ALPHA-BEARING WASTES
PACKAGING
WOOD
CUTTING
ROBOTS
CONTROL SYSTEMS
ELECTRIC IMPEDANCE
DEGREES OF FREEDOM
DEMONSTRATION PROGRAMS
REMOTE CONTROL
RADIATION PROTECTION
RADIOACTIVE WASTE PROCESSING
SAVANNAH RIVER PLANT
420203
052001
HANDLING EQUIPMENT AND PROCEDURES
WASTE PROCESSING