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Title: Reconfigurable mobile manipulation for accident response

Abstract

The need for a telerobotic vehicle with hazard sensing and integral manipulation capabilities has been identified for use in transportation accidents where nuclear weapons are involved. The Accident Response Mobile Manipulation System (ARMMS) platform has been developed to provide remote dexterous manipulation and hazard sensing for the Accident Response Group (ARG) at Sandia National Laboratories. The ARMMS' mobility platform is a military HMMWV [High Mobility Multipurpose Wheeled Vehicle] that is teleoperated over RF or Fiber Optic communication channels. ARMMS is equipped with two high strength Schilling Titan II manipulators and a suite of hazardous gas and radiation sensors. Recently, a modular telerobotic control architecture call SMART (Sandia Modular Architecture for Robotic and Teleoperation) has been applied to ARMMS. SMART enables input devices and many system behaviors to be rapidly configured in the field for specific mission needs. This paper summarizes current SMART developments applied to ARMMS.

Authors:
; ; ; ; ;
Publication Date:
Research Org.:
Sandia National Labs., Albuquerque, NM (US); Sandia National Labs., Livermore, CA (US)
Sponsoring Org.:
US Department of Energy (US)
OSTI Identifier:
756422
Report Number(s):
SAND2000-1424C
TRN: US0003820
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Conference
Resource Relation:
Conference: Unmanned Systems 2000 Symposium, Orlando, FL (US), 07/11/2000--07/13/2000; Other Information: PBD: 6 Jun 2000
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEFENSE; ROBOTS; DESIGN; NUCLEAR WEAPONS; ACCIDENTS; REMOTE SENSING; REMOTE HANDLING; RADIATION DETECTORS; MANIPULATORS; COMPUTERIZED CONTROL SYSTEMS

Citation Formats

ANDERSON,ROBERT J., MORSE,WILLIAM D., SHIREY,DAVID L., CDEBACA,DANIEL M., HOFFMAN JR.,JOHN P., and LUCY,WILLIAM E. Reconfigurable mobile manipulation for accident response. United States: N. p., 2000. Web.
ANDERSON,ROBERT J., MORSE,WILLIAM D., SHIREY,DAVID L., CDEBACA,DANIEL M., HOFFMAN JR.,JOHN P., & LUCY,WILLIAM E. Reconfigurable mobile manipulation for accident response. United States.
ANDERSON,ROBERT J., MORSE,WILLIAM D., SHIREY,DAVID L., CDEBACA,DANIEL M., HOFFMAN JR.,JOHN P., and LUCY,WILLIAM E. Tue . "Reconfigurable mobile manipulation for accident response". United States. https://www.osti.gov/servlets/purl/756422.
@article{osti_756422,
title = {Reconfigurable mobile manipulation for accident response},
author = {ANDERSON,ROBERT J. and MORSE,WILLIAM D. and SHIREY,DAVID L. and CDEBACA,DANIEL M. and HOFFMAN JR.,JOHN P. and LUCY,WILLIAM E.},
abstractNote = {The need for a telerobotic vehicle with hazard sensing and integral manipulation capabilities has been identified for use in transportation accidents where nuclear weapons are involved. The Accident Response Mobile Manipulation System (ARMMS) platform has been developed to provide remote dexterous manipulation and hazard sensing for the Accident Response Group (ARG) at Sandia National Laboratories. The ARMMS' mobility platform is a military HMMWV [High Mobility Multipurpose Wheeled Vehicle] that is teleoperated over RF or Fiber Optic communication channels. ARMMS is equipped with two high strength Schilling Titan II manipulators and a suite of hazardous gas and radiation sensors. Recently, a modular telerobotic control architecture call SMART (Sandia Modular Architecture for Robotic and Teleoperation) has been applied to ARMMS. SMART enables input devices and many system behaviors to be rapidly configured in the field for specific mission needs. This paper summarizes current SMART developments applied to ARMMS.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2000},
month = {6}
}

Conference:
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