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Title: Off-line programming and simulation in handling nuclear components

Abstract

IGRIP was used to create a simulation of the robotic workcell design for handling components at the PANTEX nuclear arms facility. This initial simulation identified problems with the customer`s proposed worker layout, and allowed a correction to be proposed. Refinement of the IGRIP simulation allowed the design and construction of a workcell mock-up and accurate off-line programming of the system. IGRIP`s off-line programming capabilities are being used to develop the motion control code for the workcell. PNLs success in this area suggests that simulation and off-line programming may be valuable tools for developing robotics in some automation resistant industries.

Authors:
Publication Date:
Research Org.:
Pacific Northwest Lab., Richland, WA (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
10195747
Report Number(s):
PNL-SA-22400; CONF-9310216-3
ON: DE94003724; TRN: 94:001413
DOE Contract Number:
AC06-76RL01830
Resource Type:
Conference
Resource Relation:
Conference: 7. Deneb robotics user group meeting,Troy, MI (United States),12-15 Oct 1993; Other Information: PBD: Oct 1993
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; RADIOACTIVE MATERIALS; REMOTE HANDLING; REMOTE HANDLING EQUIPMENT; COMPUTERIZED SIMULATION; DESIGN; I CODES; AUTOMATION; ROBOTS; PANTEX PLANT; OR-CEF REACTOR; 420203; 990200; HANDLING EQUIPMENT AND PROCEDURES; MATHEMATICS AND COMPUTERS

Citation Formats

Baker, C.P.. Off-line programming and simulation in handling nuclear components. United States: N. p., 1993. Web.
Baker, C.P.. Off-line programming and simulation in handling nuclear components. United States.
Baker, C.P.. 1993. "Off-line programming and simulation in handling nuclear components". United States. doi:. https://www.osti.gov/servlets/purl/10195747.
@article{osti_10195747,
title = {Off-line programming and simulation in handling nuclear components},
author = {Baker, C.P.},
abstractNote = {IGRIP was used to create a simulation of the robotic workcell design for handling components at the PANTEX nuclear arms facility. This initial simulation identified problems with the customer`s proposed worker layout, and allowed a correction to be proposed. Refinement of the IGRIP simulation allowed the design and construction of a workcell mock-up and accurate off-line programming of the system. IGRIP`s off-line programming capabilities are being used to develop the motion control code for the workcell. PNLs success in this area suggests that simulation and off-line programming may be valuable tools for developing robotics in some automation resistant industries.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = 1993,
month =
}

Conference:
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  • Sandia has developed an advanced operational control system approach, caged Graphical Programming, to design and operate robotic waste cleanup and other hazardous duty robotic systems. The Graphical Programming approach produces robot systems that are faster to develop and use, safer in operation, and cheaper overall than altemative teleoperation or autonomous robot control systems. The Graphical Programming approach uses 3-D visualization and simulation software with intuitive operator interfaces for the programming and control of complex robotic systems. Graphical Programming Supervisor software modules allow an operator to command and simulate complex tasks in a graphic preview mode and, when acceptable, command themore » actual robots and monitor their motions with the graphic system. Graphical Progranuning Supervisors maintain registration with the real world and allow the robot to perform tasks that cannot be accurately represented with models alone by using a combination of model and sensor-based control. This paper describes the Graphical Programming approach, several example control systems that use Graphical Programming, and key features necessary for implementing successful Graphical Programming systems.« less
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