Title :
Nuclear telerobotics and dextrous controllers
Author :
Abel, Ed ; Siva, Kumar
Author_Institution :
AEA Technol., Harwell Lab., Didcot, UK
Abstract :
Two new fields of development at AEA Technology´s Harwell Laboratory are described, covering telerobotics and hand controllers for the nuclear industry. The first development describes the production of a nuclear engineered advanced telerobot (NEATER) for applications in decommissioning and waste handling. It is a re-engineered industrial robot based on the Staubli-Unimation PUMA 762 clean room manipulator. The second development described concerns dextrous hand controllers which can be used to control the motion of a telerobotic manipulator end effector as it moves in space and contacts surfaces and workpieces. Several input devices have been investigated for characteristics such as user-friendliness, compactness and cost effectiveness. Servo control of bilateral systems has been examined to optimize end point bilateral control
Keywords :
fission reactor decommissioning; position control; radioactive waste; robots; telecontrol; NEATER; Staubli-Unimation PUMA 762 clean room manipulator; bilateral systems; compactness; cost effectiveness; decommissioning; dextrous controllers; end point bilateral control; hand controllers; nuclear engineered advanced telerobot; nuclear industry; re-engineered industrial robot; servo control; telerobotics; user-friendliness; waste handling; End effectors; Industrial control; Laboratories; Manipulators; Motion control; Orbital robotics; Production; Service robots; Telerobotics; Waste handling;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262412
