Applications of intelligent telerobotic control
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; USDOE, Washington, DC (United States)
- DOE Contract Number:
- W-7405-ENG-48
- OSTI ID:
- 6090047
- Report Number(s):
- UCRL-JC-108589; ON: DE92004655
- Country of Publication:
- United States
- Language:
- English
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