核遥控机器人和灵巧控制器

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI:10.1109/IROS.1990.262412

E. Abel, K. Siva

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引用次数: 3

摘要

介绍了AEA技术公司Harwell实验室的两个新开发领域，包括远程机器人和用于核工业的手动控制器。第一项发展描述了用于退役和废物处理的核工程先进远程机器人(NEATER)的生产。它是在staublii - unimation PUMA 762无尘室机械手的基础上重新设计的工业机器人。第二个发展描述了灵巧的手控制器，它可以用来控制远程机器人机械手末端执行器的运动，因为它在空间中移动和接触表面和工件。一些输入设备已被调查的特点，如用户友好，紧凑性和成本效益。研究了双边系统的伺服控制，以优化终点双边控制。

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Nuclear telerobotics and dextrous controllers

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.<>

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

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