Remote manipulator and its teleoperated guide vehicle for hazardous waste sampling operations

Author

Kim, Kiho ; Vannette, Mark W. ; Hall, Jerry L. ; Flugrad, Donald R.

Author_Institution

Dept. of Mech. Eng., Iowa State Univ., Ames, IA, USA

fYear

1994

fDate

8-13 May 1994

Firstpage

2620

Abstract

A remote manipulator and its teleoperated guide vehicle were developed for laser-aided surface sampling operations at hazardous waste sites. This equipment was designed to reduce or eliminate human interaction with the hazardous contaminants. The 3 degree-of-freedom (DOF) remote manipulator with a sampling probe mounted on the end of the robotic arm is operated either by a master/slave controller or a computer keyboard command. The teleoperated guide vehicle moves by remote control the manipulator (mounted on a trailer) into the desired sampling locations in the contaminated field. This paper deals with the mechanical design considerations, control system, and capabilities of both the manipulator and the teleoperated guide vehicle. The results of field tests are also presented

Keywords

control system synthesis; manipulators; materials handling; telecontrol; hazardous waste sampling operations; laser-aided surface sampling; master/slave controller; mechanical design; remote control; remote manipulator; robotic arm; teleoperated guide vehicle; Humans; Keyboards; Manipulators; Master-slave; Probes; Remotely operated vehicles; Robots; Sampling methods; Surface contamination; Surface emitting lasers;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.351119

Filename

351119