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Sensor-based automated docking of large payloads

Conference ·
OSTI ID:7140438

A multiple degree of freedom robotic system is described for the sensor-based, automated remote manipulation and precision docking of large payloads. Computer vision and ultrasonic proximity sensing are used to control the automated precision docking of a large object with a passive target cavity. Real-time sensor processing and model-based analysis are used to control payload position to a precision of {plus minus}0.5 mm. 1 ref., 10 figs.

Research Organization:
Sandia National Labs., Albuquerque, NM (USA)
Sponsoring Organization:
DOE/DP
DOE Contract Number:
AC04-76DP00789
OSTI ID:
7140438
Report Number(s):
SAND-90-0348C; CONF-900608--17; ON: DE90011020
Country of Publication:
United States
Language:
English

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Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
AUTOMATION
COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
DEGREES OF FREEDOM
EQUIPMENT
HAZARDOUS MATERIALS
LABORATORY EQUIPMENT
MANIPULATORS
MATERIALS
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING
REMOTE HANDLING EQUIPMENT
ROBOTS
VISION