Tele-robotic/autonomous control using controlshell
Conference
·
OSTI ID:647012
A tele-robotic and autonomous controller architecture for waste handling and sorting has been developed which uses tele-robotics, autonomous grasping and image processing. As a starting point, prior work from LLNL and ORNL was restructured and ported to a special real-time development environment. Significant improvements in collision avoidance, force compliance, and shared control aspects were then developed. Several orders of magnitude improvement were made in some areas to meet the speed and robustness requirements of the application.
- Research Organization:
- Lawrence Livermore National Lab., CA (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- W-7405-ENG-48
- OSTI ID:
- 647012
- Report Number(s):
- UCRL-JC--125880; CONF-970464--; ON: DE98050729
- Country of Publication:
- United States
- Language:
- English
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