Using virtual objects to aid underground storage tank teleoperation

Conference · Tue Mar 01 00:00:00 EST 1994

OSTI ID:10131885

Anderson, R J; Davies, B

In this paper we describe an algorithm by which obstructions and surface features in an underground storage tank can be modeled and used to generate virtual barrier function for a real-time telerobotic system, which provides an aid to the operator for both real-time obstacle avoidance and for surface tracking. The algorithm requires that the slave`s tool and every object in the waste storage tank be decomposed into convex polyhedral primitives, with the waste surface modeled by triangular prisms. Intrusion distance and extraction vectors are then derived at every time step by applying Gilbert`s polyhedra distance algorithm, which has been adapted for the task. This information is then used to determine the compression and location of nonlinear virtual spring-dampers whose total force is summed and applied to the manipulator/teleoperator system. Experimental results using a PUMA 560 and a simulated waste surface validate the approach, showing that it is possible to compute the algorithm and generate smooth, realistic pseudo forces for the teleoperator system using standard VME bus hardware.

• Research Organization: Sandia National Labs., Albuquerque, NM (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 10131885
• Report Number(s): SAND-94-0500C; CONF-940550-11; ON: DE94007857; BR: GB0103012; TRN: 94:006459
• Resource Relation: Conference: Institute of Electrical and Electronics Engineers (IEEE) international conference on robotics,San Diego, CA (United States),8-13 May 1994; Other Information: PBD: [1994]
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
TANKS
REMEDIAL ACTION
INSPECTION
ROBOTS
COMPUTERIZED SIMULATION
ALGORITHMS
RADIOACTIVE WASTE STORAGE
UNDERGROUND STORAGE
REMOTE CONTROL
MANIPULATORS
REMOTE VIEWING EQUIPMENT
420203
990200
HANDLING EQUIPMENT AND PROCEDURES
MATHEMATICS AND COMPUTERS