Telerobotics with whole arm collision avoidance [electronic resource].
- Washington, D.C. : United States. Dept. of Energy, 1993.
Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
- Physical Description:
- 13 pages : digital, PDF file
- Additional Creators:
- Lawrence Livermore National Laboratory
United States. Department of Energy
United States. Department of Energy. Office of Scientific and Technical Information
- The complexity of teleorbotic operations in a cluttered environment is exacerbated by the need to present collision information to the operator in an understandable fashion. In addition to preventing movements which will cause collisions, a system providing some form of virtual force reflection (VFR) is desirable. With this goal in mind, Lawrence Livermore National Laboratory (LLNL) has installed a kinematically master/slave system and developed a whole arm collision avoidance system which interacts directly with the telerobotic controller. LLNL has also provided a structure to allow for automated upgrades of workcell models and provide collision avoidance even in a dynamically changing workcell.
- Published through SciTech Connect.
Society of Photo-Optical Instrumentation Engineer`s (SPIE) international symposium on optical tools for manufacturing and advanced automation,Boston, MA (United States),7-10 Sep 1993.
Wilhelmsen, K.; Strenn, S.
- Funding Information:
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