Demonstration of automated robotic workcell for hazardous waste characterization

Technical Report · Mon Feb 01 04:00:00 EST 1993

OSTI ID:6782896

Holliday, M; Dougan, A; Gavel, D; Gustaveson, D; Johnson, R; Kettering, B; Wilhelmsen, K

An automated robotic workcell to classify hazardous waste stream items with previously unknown characteristics has been designed, tested and demonstrated The object attributes being quantified are radiation signature, metal content, and object orientation and volume. The multi sensor information is used to make segregation decisions plus do automatic grasping of objects. The work-cell control program uses an off-line programming system by Cimetrix Inc. as a server to do both simulation control as well as actual hardware control of the workcell. This paper will discuss the overall workcell layout, sensor specifications, workcell supervisory control, 2D vision based automated grasp planning and object classification algorithms.

• Research Organization: Lawrence Livermore National Lab., CA (United States)
• Sponsoring Organization: DOE; USDOE, Washington, DC (United States)
• DOE Contract Number: W-7405-ENG-48
• OSTI ID: 6782896
• Report Number(s): UCRL-JC-113083; ON: DE93008678
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
AUTOMATION
COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
DESIGN
EQUIPMENT
FEEDBACK
HAZARDOUS MATERIALS
MATERIALS
MATERIALS HANDLING EQUIPMENT
ON-LINE CONTROL SYSTEMS
ON-LINE SYSTEMS
RADIOACTIVE MATERIALS
RADIOACTIVE WASTES
REMOTE HANDLING
REMOTE HANDLING EQUIPMENT
ROBOTS
SORTING
TESTING
WASTES