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Title: A Modular Telerobot Control System for Accident Response

Abstract

The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART (Sandia's Modular Architecture for Robotic and Teleoperation) was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements eight different behavior modes. This paper describes the integration of SMART into the ARMMS system.

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:
9644
Report Number(s):
SAND99-1904C
TRN: US0103172
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Conference
Resource Relation:
Conference: SPIE Symposium on Intelligent Systems and Advanced Manufacturing, Boston, MA (US), 09/19/1999--09/22/1999; Other Information: PBD: 20 Jul 1999
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; RADIATION ACCIDENTS; CAMERAS; COMPUTERIZED CONTROL SYSTEMS; HYDRAULICS; MANIPULATORS; MANUFACTURING; SAFETY; ROBOTS; REMOTE CONTROL

Citation Formats

Anderson, Robert J, and Shirey, David L. A Modular Telerobot Control System for Accident Response. United States: N. p., 1999. Web.
Anderson, Robert J, & Shirey, David L. A Modular Telerobot Control System for Accident Response. United States.
Anderson, Robert J, and Shirey, David L. Tue . "A Modular Telerobot Control System for Accident Response". United States. https://www.osti.gov/servlets/purl/9644.
@article{osti_9644,
title = {A Modular Telerobot Control System for Accident Response},
author = {Anderson, Robert J and Shirey, David L},
abstractNote = {The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART (Sandia's Modular Architecture for Robotic and Teleoperation) was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements eight different behavior modes. This paper describes the integration of SMART into the ARMMS system.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1999},
month = {7}
}

Conference:
Other availability
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