DOE/NE robotics for advanced reactors
This document details activities during this reporting period. The Michigan group has developed, built, and tested a general purpose interface circuit for DC motors and encoders. This interface is based on an advanced microchip, the HCTL 1100 manufactured by Hewlett Packard. The HCTL 1100 can be programmed by a host computer in real-time, allowing sophisticated motion control for DC motors. At the University of Florida, work on modeling the details of the seismic isolators and the jack mechanism has been completed. A separate 3D solid view of the seismic isolator floor, with the full set of isolators shown in detail, has been constructed within IGRIP. ORNL led the robotics team at the ALMR review meeting. Discussions were held with General Electric (GE) engineers and contractors on the robotic needs for the ALMR program. The Tennessee group has completed geometric modeling of the Andros Mark VI mobile platform with two fixed tracks and for articulated tracks, the give degree-of-freedom manipulator and its end-effector, and two cameras. A graphical control of panel was developed which allow the user to operate the simulated robot. The University of Texas team visited ORNL to complete the implementation of computed-torque controller on the CESARm manipulator. This controller was previously developed and computer simulations were carried out specifically for the CESARm robot.
- Research Organization:
- Florida Univ., Gainesville, FL (United States); Univ. of Michigan, Ann Arbor, MI (United States); Tennessee Univ., Knoxville, TN (United States); Univ. of Texas, Austin, TX (United States); Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE; USDOE, Washington, DC (United States)
- DOE Contract Number:
- FG02-86NE37967
- OSTI ID:
- 5836313
- Report Number(s):
- DOE/NE/37967-T8; ON: DE92008711
- Country of Publication:
- United States
- Language:
- English
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DOE/NE robotics for advanced reactors
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