A FAIL-SAFE TELE-AUTONOMOUS ROBOTIC SYSTEM FOR NUCLEAR-FACILITIES

Authors
TSO KS BACKES PG
Citation
Ks. Tso et Pg. Backes, A FAIL-SAFE TELE-AUTONOMOUS ROBOTIC SYSTEM FOR NUCLEAR-FACILITIES, Robotics and computer-integrated manufacturing, 10(6), 1993, pp. 423-428
Citations number
NO
Categorie Soggetti
Robotics & Automatic Control","Computer Science Interdisciplinary Applications","Engineering, Manufacturing
Journal title
Robotics and computer-integrated manufacturing → ACNP
ISSN journal
07365845
Volume
10
Issue
6
Year of publication
1993
Pages
423 - 428
Database
ISI
SICI code
0736-5845(1993)10:6<423:AFTRSF>2.0.ZU;2-A
Abstract
A fail-safe tele-autonomous robotic system is proposed for use in adva nced nuclear reprocessing facilities. The design exploits the technolo gies developed for space telerobotics. The target system consists of a graphical user interface for an operator to execute robotic tasks, ha nd controllers for teleoperation, a three-dimensional graphical simula tor, and robot control software to drive both the graphical simulation and dual six degree-of-freedom robots to perform tasks using autonomo us, teleoperated, and shared control modes. A preliminary design for a safety monitoring system for fail-safe operations is also described.