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Title: SMART: A modular architecture for robotics and teleoperation

Abstract

This paper introduces SMART: Sandia National Laboratory`s Modular Architecture for Robotics and Teleoperation. SMART is designed to integrate the different slave devices (e.g., large hydraulic arms, mobile manipulators, gantry robots), sensors (e.g., ultra-sonic sensors,force sensors), and input devices, (e.g., track ball,force-reflecting master, autonomous trajectory generators) required for waste management and environmental restoration tasks. The modular architecture allows for rapid synthesis of complex telerobotic systems. This paper introduces some sample modules and illustrates how the modules can be connected to achieve telerobotic behaviors. Examples include autonomous control, impedance control, and enhanced bilateral teleoperation.

Authors:
Publication Date:
Research Org.:
Sandia National Labs., Albuquerque, NM (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
10179805
Report Number(s):
SAND-92-1632C; CONF-921181-3; CONF-930284-1
ON: DE92040985
DOE Contract Number:  
AC04-76DP00789
Resource Type:
Conference
Resource Relation:
Conference: ISRAM `92: 4th international symposium on robotics and manufacturing,Sante Fe, NM (United States); Atlanta, GA (United States),11-13 Nov 1992; 12 Feb 1993; Other Information: PBD: [1992]
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; ROBOTS; CONTROL SYSTEMS; MANIPULATORS; REMOTE SENSING; REMOTE CONTROL; TELEMETRY; REMEDIAL ACTION; WASTE PROCESSING; 420203; HANDLING EQUIPMENT AND PROCEDURES

Citation Formats

Anderson, R J. SMART: A modular architecture for robotics and teleoperation. United States: N. p., 1992. Web.
Anderson, R J. SMART: A modular architecture for robotics and teleoperation. United States.
Anderson, R J. Tue . "SMART: A modular architecture for robotics and teleoperation". United States.
@article{osti_10179805,
title = {SMART: A modular architecture for robotics and teleoperation},
author = {Anderson, R J},
abstractNote = {This paper introduces SMART: Sandia National Laboratory`s Modular Architecture for Robotics and Teleoperation. SMART is designed to integrate the different slave devices (e.g., large hydraulic arms, mobile manipulators, gantry robots), sensors (e.g., ultra-sonic sensors,force sensors), and input devices, (e.g., track ball,force-reflecting master, autonomous trajectory generators) required for waste management and environmental restoration tasks. The modular architecture allows for rapid synthesis of complex telerobotic systems. This paper introduces some sample modules and illustrates how the modules can be connected to achieve telerobotic behaviors. Examples include autonomous control, impedance control, and enhanced bilateral teleoperation.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1992},
month = {9}
}

Conference:
Other availability
Please see Document Availability for additional information on obtaining the full-text document. Library patrons may search WorldCat to identify libraries that hold this conference proceeding.

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