Control of robotic trajectory with predertermined deviative errors
- Florida International Univ., Miami, FL (United States)
- Oak Ridge National Lab., TN (United States)
The Tank Waste Retrieval Manipulator System (TWRMS) and Light Duty Utility Arm (LDUA) used in underground storage tank cleanups require safety clearance between the end effector and the wall of the tank, or other structural obstacles inside the tank. Because the mapping of robotic joint (local coordinate) space to position (global coordinate) space is non-linear, a straight-line trajectory in joint space becomes a polynomial (curvilinear) trajectory in position space. Consequently, trajectory deviations occur at the end effector while the robot is controlled to move from one intermediate control point to the subsequent point. Specifying the maximum allowable deviation within the range of safety clearance during operations then is essential.
- OSTI ID:
- 411809
- Report Number(s):
- CONF-951006--
- Journal Information:
- Transactions of the American Nuclear Society, Journal Name: Transactions of the American Nuclear Society Vol. 73; ISSN TANSAO; ISSN 0003-018X
- Country of Publication:
- United States
- Language:
- English
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