This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Advanced Operator Interfaces for a Remote Mobile Manipulation Robot
Annotation ability available
Sector:
Language:
English
Abstract
Many hazardous material handling needs exist in remote unstructured environments. Currently these operations are accomplished using personnel in direct contact with the hazards. A safe and cost effective alternative to this approach is the use of intelligent robotic systems for the excavation, handling, and transport of hazardous materials. A robotic system designed for these tasks has been developed at Sandia National Laboratories which successfully integrates computer controlled manipulation and mobility to deliver these needed robotic capabilities in the field.
The mobile robot, RETRVIR, or REmote TeleRobotic Vehicle for Intelligent Remediation, incorporates recent developments in the integration of sensors, advanced computing environments, and graphical user interfaces. The addition of these elements in the control of remotely operated equipment have shown great promise for reducing the cost of remote systems while providing faster and safer operations. This paper describes the application of these developments and the operator interface for the Sandia RETRVIR remote manipulation system.
Authors
Topic
Citation
Horschel, D., Little, C., and Boissiere, P., "Advanced Operator Interfaces for a Remote Mobile Manipulation Robot," SAE Technical Paper 951572, 1995, https://doi.org/10.4271/951572.Also In
References
- DOE Complex Buried Waste Assessment January 1993
- US DOE Environmental Restoration and Waste Management Five-Year Plan, Fiscal Years 1994-1998 US Department of Energy 1993
- US DOE Environmental Restoration and Waste Management Robotics Technology Development Program - Robotics 5-Year Program Plan US Department of Energy 1989
- Boissiere P.T. Harrigan R.W. An Alternative Control Structure for Telerobotics NASA Conference on Space Telerobotics Pasadena, CA 1989
- Harrigan R. W. Intelligent Automated Control of Robotic Systems for Environmental Restoration ANS Annual Meeting Boston June 7-11 1992
- Boissiere P.T. Harrigan R.W. Telerobotic Control of Conventional Robot Manipulators Proceedings of the 1988 IEEE International Conference on Robotics and Automation Philadelphia, PA 1988
- Harrigan R. W. Automating The Operation of Robots in Hazardous Environments IROS '93, 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems Yokohama, Japan July 26-30 1993
- McDonald, Michael J. Palmquist, Robert D. Graphical Programming: On-Line Robot Simulation for TeleRobotic Control Robots and Vision Automation Show and Conference Detroit, MI April 1993
- Deneb Robotics, Inc. IGRIP Users Manual, IGRIP 2.3 Auburn Hills, MI January 1993
- Wilson C.W. Selleck C.B. Telerobotic Vision for Feature Location and Robot Control ASCE Space-94 Albuquerque Feb. 26 March 3 1994