Telerobotics with whole arm collision avoidance
Conference
·
OSTI ID:10192042
The complexity of teleorbotic operations in a cluttered environment is exacerbated by the need to present collision information to the operator in an understandable fashion. In addition to preventing movements which will cause collisions, a system providing some form of virtual force reflection (VFR) is desirable. With this goal in mind, Lawrence Livermore National Laboratory (LLNL) has installed a kinematically master/slave system and developed a whole arm collision avoidance system which interacts directly with the telerobotic controller. LLNL has also provided a structure to allow for automated upgrades of workcell models and provide collision avoidance even in a dynamically changing workcell.
- Research Organization:
- Lawrence Livermore National Lab., CA (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- W-7405-ENG-48
- OSTI ID:
- 10192042
- Report Number(s):
- UCRL-JC-115169; CONF-9309199-9; ON: DE94002027
- Resource Relation:
- Conference: Society of Photo-Optical Instrumentation Engineer`s (SPIE) international symposium on optical tools for manufacturing and advanced automation,Boston, MA (United States),7-10 Sep 1993; Other Information: PBD: Sep 1993
- Country of Publication:
- United States
- Language:
- English
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