Applications of intelligent telerobotic control

Technical Report · Tue Oct 01 00:00:00 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
• Resource Relation: Other Information: PBD: Oct 1991
• Country of Publication: United States
• Language: English

Related Subjects

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