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The development of robot application technology in nuclear facilities

Technical Report:

Abstract

The project of this study is intended to develop the application technology for autonomous robotic systems operated in hostile environments where human access is prohibited. The mobile robot, named as KAEROT, has been designed by adopting the controller of multiprocessor of distributed system architecture in order to get flexibility. 2 driving wheel assembles and 1 steering mechanism has been adopted and each of them is made of planetary wheel which is composed of a couple of star-like arms with 3 wheels. The 6 D.O.F of manipulator is controlled by CCD camera mounted on the elbow and base, to provide wide view of the working area for tele-operation. The off-line programming system is being developed for checking robot constraint violations within workspace prior to execution of robot programming. (Author).
Authors:
Lee, Jong Min; Kim, Seung Ho; Kim, Chang Hoi; Kim, Byung Soo; Hwang, Suk Young; Sohn, Surg Won; Lee, Yong Bum; Kim, Woong Ki [1] 
  1. Korea Atomic Energy Research Inst., Daeduk (Korea, Republic of)
Publication Date:
Jan 01, 1991
Product Type:
Technical Report
Report Number:
KAERI/RR-952/90
Reference Number:
SCA: 420200; 990200; PA: AIX-23:015147; SN: 92000646976
Resource Relation:
Other Information: PBD: Jan 1991
Subject:
42 ENGINEERING; 99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; ROBOTS; NUCLEAR FACILITIES; CONTROL SYSTEMS; FABRICATION; PLANNING; PRODUCTIVITY; PROGRAMMING; RADIATION DOSES; SIMULATION; 420200; 990200; FACILITIES, EQUIPMENT, AND TECHNIQUES; MATHEMATICS AND COMPUTERS
OSTI ID:
10115380
Research Organizations:
Korea Atomic Energy Research Inst., Daeduk (Korea, Republic of)
Country of Origin:
Korea, Republic of
Language:
Korean
Other Identifying Numbers:
Other: ON: DE92615142; TRN: KR9100109015147
Availability:
OSTI; NTIS (US Sales Only); INIS
Submitting Site:
INIS
Size:
153 p.
Announcement Date:
Jun 30, 2005

Technical Report:

Citation Formats

Lee, Jong Min, Kim, Seung Ho, Kim, Chang Hoi, Kim, Byung Soo, Hwang, Suk Young, Sohn, Surg Won, Lee, Yong Bum, and Kim, Woong Ki. The development of robot application technology in nuclear facilities. Korea, Republic of: N. p., 1991. Web.
Lee, Jong Min, Kim, Seung Ho, Kim, Chang Hoi, Kim, Byung Soo, Hwang, Suk Young, Sohn, Surg Won, Lee, Yong Bum, & Kim, Woong Ki. The development of robot application technology in nuclear facilities. Korea, Republic of.
Lee, Jong Min, Kim, Seung Ho, Kim, Chang Hoi, Kim, Byung Soo, Hwang, Suk Young, Sohn, Surg Won, Lee, Yong Bum, and Kim, Woong Ki. 1991. "The development of robot application technology in nuclear facilities." Korea, Republic of.
@misc{etde_10115380,
title = {The development of robot application technology in nuclear facilities}
author = {Lee, Jong Min, Kim, Seung Ho, Kim, Chang Hoi, Kim, Byung Soo, Hwang, Suk Young, Sohn, Surg Won, Lee, Yong Bum, and Kim, Woong Ki}
abstractNote = {The project of this study is intended to develop the application technology for autonomous robotic systems operated in hostile environments where human access is prohibited. The mobile robot, named as KAEROT, has been designed by adopting the controller of multiprocessor of distributed system architecture in order to get flexibility. 2 driving wheel assembles and 1 steering mechanism has been adopted and each of them is made of planetary wheel which is composed of a couple of star-like arms with 3 wheels. The 6 D.O.F of manipulator is controlled by CCD camera mounted on the elbow and base, to provide wide view of the working area for tele-operation. The off-line programming system is being developed for checking robot constraint violations within workspace prior to execution of robot programming. (Author).}
place = {Korea, Republic of}
year = {1991}
month = {Jan}
}