Dual arm master controller concept: consolidated fuel reprocessing program

Conference · Sun Apr 01 00:00:00 EST 1984

OSTI ID:6839785

Kuban, D P; Perkins, G S

The Advanced Servomanipulator (ASM) slave was designed with an anthropomorphic stance, gear/torque tube power drives, and modular construction. These features result in increased inertia, friction, and backlash relative to tape-driven manipulators. Studies were performed which addressed the human factors design and performance trade-offs associated with corresponding master controller best suited for the ASM. The results of these studies, as well as the conceptual design of the dual arm master controller, are presented. 6 references, 3 figures.

• Research Organization: Oak Ridge National Lab., TN (USA); Jet Propulsion Lab., Pasadena, CA (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6839785
• Report Number(s): CONF-840413-11; ON: DE84011633
• Resource Relation: Conference: Topical meeting on robotics and remote handling in hostile environments, Gatlinburg, TN, USA, 23 Apr 1984
• Country of Publication: United States
• Language: English

Related Subjects

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
CONSOLIDATED FUEL REPROCESSING PROGRAM
FUEL REPROCESSING PLANTS
REMOTE HANDLING EQUIPMENT
SERVOMECHANISMS
DESIGN
HUMAN FACTORS ENGINEERING
REMOTE CONTROL
CONTROL
CONTROL EQUIPMENT
COORDINATED RESEARCH PROGRAMS
ENGINEERING
EQUIPMENT
MATERIALS HANDLING EQUIPMENT
NUCLEAR FACILITIES
RESEARCH PROGRAMS
050800* - Nuclear Fuels- Spent Fuels Reprocessing