The Robotics Laboratory (RL) houses various remote manipulator systems, including the Dual Arm Work Platform, to support enhancements to teleoperation of remote systems for nuclear applications.
Argonne scientists are using computer simulation and robot task programming tools to enhance the safety and efficiency of telerobotics in applications such as the decontamination and decommissioning (D&D) of nuclear power plants. Researchers can visualize robotic operations in a 3-D graphics environment, plan the layout and motion sequence of the robotic equipment, simulate the robotís motion to verify proper operation, and generate validated instructions to program Argonneís dual-arm robot.
Dual Arm Collaboration
A robot’s task capability can be greatly expanded by having two arms work
together. Although this is an inherent capability of humans and animals, dual
arm collaboration is an unproven robotic technology that requires complex
geometric reasoning and motion control. There are two key technologies in
robotics. One is motion planning, which involves computation of motion
trajectories in time that may displace the robots in appropriate spatial paths
while avoiding physical collisions. Another is kinesthetic control, which
involves the computation of stable interactive forces and the mechanical
stiffness of the two arms in response to the perceived sensory information.
These technologies are essential for implementing safe operation of multiple
An experimental robotics laboratory is being set up in order to support
experimental verification of the software paradigms for process planning, motion
planning and control. The laboratory is equipped with two teleoperated hydraulic
manipulators, multiple cameras and other supporting devices -- all under the
control of a single system. By adopting open architecture and multiple single
board computers, the low-end of the controller provides the highest flexibility
for functional modifications and ample bandwidth for implementing sophisticated
control algorithms. The high end of the controller is a UNIX based computer,
which supports standard network communications with other information servers,
such as the graphic motion planner.
Last Modified: Fri, February 19, 2010 8:50 PM