Conversion of a servomanipulator from analog to digital control

Conference · Wed Jan 01 00:00:00 EST 1986

OSTI ID:6113823

Killough, S M; Martin, H L; Hamel, W R

Oak Ridge National Laboratory (ORNL) has developed expertise in computer control of force-reflecting master/slave servomanipulators as a result of research for the Consolidated Fuel Reprocessing Program. These computer control capabilities have been applied to a commercially available servomanipulator, the TeleOperator Systems SM-229. All of the servo drive and control circuitry has been replaced with commercially available digital controls and amplifiers, and a customer software - package has been developed at ORNL. This conversion to digital computer control resulted in significant improvements in force-reflection characteristics, ease of operation, diagnostic capabilities, indexing features, and potential increased reliability. The system will be used at the Tokamak Fusion Test Reactor at the Princeton Plasma Physics Laboratory (PPPL) for maintenance demonstrations.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6113823
• Report Number(s): CONF-860434-1; ON: DE86000090
• Resource Relation: Conference: IEEE international conference on robotics and automation, San Francisco, CA, USA, 7 Apr 1986
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
FUEL REPROCESSING PLANTS
MAINTENANCE
MANIPULATORS
COMPUTERIZED CONTROL SYSTEMS
SERVOMECHANISMS
CONSOLIDATED FUEL REPROCESSING PROGRAM
REMOTE HANDLING
CONTROL EQUIPMENT
CONTROL SYSTEMS
COORDINATED RESEARCH PROGRAMS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
NUCLEAR FACILITIES
REMOTE HANDLING EQUIPMENT
RESEARCH PROGRAMS
420203* - Engineering- Handling Equipment & Procedures
050800 - Nuclear Fuels- Spent Fuels Reprocessing