NDLI: A model-based concept for telerobotic control of decontamination and dismantlement tasks

Content Provider	IEEE Xplore Digital Library
Author	Kamel, W.R. Marland, S.K. Widner, T.C.
Copyright Year	1997
Description	Author affiliation: Dept. of Mech. & Aerosp. Eng., Tennessee Univ., Knoxville, TN, USA (Kamel, W.R.)
Abstract	Mobile robot work systems needed to do nuclear cleanup tasks exhibit complex structural and lost motion characteristics in their mechanisms which make them very difficult to automate. This research considers a macroscopic modeling technique which can be combined with sensor-guided manipulation schemes to achieve the needed in situ automation. A structural modeling method for flexible manipulators is used to optimize system control through sensor integration. The model detail is aimed at total system optimization, rather than maximum accuracy. The model reduces computational intensity of image processing, yet remains simple enough so as not to induce significant computational demands itself. Structural deflections are represented through homogeneous transforms inserted into the forward kinematic chain. The technique is being developed for full-scale evaluation at the Oak Ridge National Laboratory.
Starting Page	2204
Ending Page	2211
File Size	945788
Page Count	8
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.619289
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Telerobotics Decontamination Automatic control Mobile robots Robotics and automation Optimization methods Control system synthesis Sensor phenomena and characterization Sensor systems Computational modeling
Content Type	Text
Resource Type	Article

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