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
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.