Applications of intelligent telerobotic control

Technical Report · Tue Oct 01 04:00:00 EDT 1991

OSTI ID:10104815

Herget, C J; Grasz, E L; Merrill, R D

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.

• 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: 10104815
• Report Number(s): UCRL-JC--108589; ON: DE92004655
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203
ARTIFICIAL INTELLIGENCE
COMPUTERIZED CONTROL SYSTEMS
DEGREES OF FREEDOM
FEEDBACK
FUZZY LOGIC
HANDLING EQUIPMENT AND PROCEDURES
MAN-MACHINE SYSTEMS
MANIPULATORS
NAVIGATION
NEURAL NETWORKS
REAL TIME SYSTEMS
REMOTE CONTROL
REMOTE HANDLING
REMOTE HANDLING EQUIPMENT
ROBOTS
VISION
WASTES