Capacitive tool standoff sensor for dismantlement tasks
Conference
·
OSTI ID:459409
- Sandia National Labs., Albuquerque, NM (United States)
- Univ. of Illinois, Urbana, IL (United States)
A capacitive sensing technology has been applied to develop a Standoff Sensor System for control of robotically deployed tools utilized in Decontamination and Dismantlement (D and D) activities. The system combines four individual sensor elements to provide non-contact, multiple degree-of-freedom control of tools at distances up to five inches from a surface. The Standoff Sensor has been successfully integrated to a metal cutting router and a pyrometer, and utilized for real-time control of each of these tools. Experiments demonstrate that the system can locate stationary surfaces with a repeatability of 0.034 millimeters.
- Research Organization:
- Sandia National Labs., Albuquerque, NM (United States)
- Sponsoring Organization:
- USDOE Office of Environmental Restoration and Waste Management, Washington, DC (United States)
- DOE Contract Number:
- AC04-94AL85000
- OSTI ID:
- 459409
- Report Number(s):
- SAND--96-2993C; CONF-970464--2; ON: DE97001881
- Country of Publication:
- United States
- Language:
- English
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