Long range position and Orientation Tracking System Page: 2 of 9
This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided to UNT Digital Library by the UNT Libraries Government Documents Department.
Extracted Text
The following text was automatically extracted from the image on this page using optical character recognition software:
LONG RANGE POSITION AND ORIENTATION
TRACKING SYSTEM*G. A. Armstrong
Oak Ridge National Laboratory
Robotics & Process Systems Div.
Post Office Box 2008
Oak Ridge, TN 37831-6304
(423) 574-5683J. F. Jansen
Oak Ridge National Laboratory
Robotics & Process Systems Div.
Post Office Box 2008
Oak Ridge, TN 37831-6304
(423) 574-8154.B. L. Burks
Oak Ridge National Laboratory
Robotics & Process Systems Div.
Post Office Box 2008
Oak Ridge, TN 37831-6304
(423) 576-7350Peter D. White
Oak Ridge National Laboratory
Robotics & Process Systems Div.
Post Office Box 2008
Oak Ridge, TN 37831-6304
(423) 576-7350Delphy J. Nypaver
Oak Ridge National Laboratory
Instrumentation and Controls Division
Post Office Box 2008
Oak Ridge, TN 37831-6010
(423) 574-2969I. INTRODUCTION
The long range Position and Orientation
Tracking System is an active triangulation-based
system that is being developed to track a target to a
resolution of 6.35 mm (0.25 in.) and 0.009* (32.4
arcseconds) over a range of 13.72 m (45 ft.). The
system update rate is currently set at 20 Hz but can be
increased to 100 Hz or more. The tracking is
accomplished by sweeping two pairs of orthogonal
line lasers over infrared (IR) sensors spaced with
known geometry with respect to one another on the
target (the target being a rigid body attached to either
a remote vehicle or a remote manipulator arm). The
synchronization and data acquisition electronics
correlates the time that an IR sensor has been hit by
one of the four lasers and the angle of the respective
mirror at the time of the hit. This information is
combined with the known geometry of the IR sensors
on the target to determine position and orientation of
the target. This method has the advantage of
allowing the target to be momentarily lost due to
occlusions and then reacquired without having to
return the target to a known reference point. The
system also contains a camera with operator
controlled lighting in each pod that allows the target
to be continuously viewed from either pod, assuming
their are no occlusions.
*Research sponsored by the Office of Technology
Development, U. S. Department of Energy, under contract
DE-AC05-840R21400 with Lockheed Martin Energy
Systems, Inc.The long range Position and Orientation
Tracking System (POTS) is being developed to
support the remediation efforts of the Fernald K-65
Waste Silos at Fernald, Ohio and the underground
storage tanks (USTs) on the Hanford site in Richland,
Washington. Radiation levels in the tanks at both
sites prevent remediation by manual techniques and
therefore require the use of remote technology. The
Hanford site is studying on the use of long-reach
robotic arms for remediation while the Fernald site is
planning to use a teleoperated tethered vehicle for
remediation.
The long reach manipulator (LRM) concept
includes a vertical mast with an approximately 10 m
of horizontal reach and a total of up to 11 degrees of
freedom with a lift capability of several hundred kg.
The weight of the arm, the varying positions and
configurations of the arm and the weights of the
objects that the arm will be handling present an
infinite number of end-point locations for the end-
effector due to the arm dynamics. As a result of
manipulator compliance, the anticipated error in the
computed end-point position and the actual end-point
is estimated to be up to 0.5 m. In addition to
preventing the use of robotics, this presents a
collision hazard that could cause damage to the tank
walls, as well as the manipulator arm and retrieval
tools. The POTS system could be used to provide
real-time updates to the arm controller of the end-
effector position and orientation in space.ABSTRACT
Upcoming Pages
Here’s what’s next.
Search Inside
This article can be searched. Note: Results may vary based on the legibility of text within the document.
Tools / Downloads
Get a copy of this page or view the extracted text.
Citing and Sharing
Basic information for referencing this web page. We also provide extended guidance on usage rights, references, copying or embedding.
Reference the current page of this Article.
Armstrong, G. A.; Jansen, J. F.; Burks, B. L.; White, Peter D. & Nypaver, Delphy J. Long range position and Orientation Tracking System, article, February 1, 1996; Tennessee. (https://digital.library.unt.edu/ark:/67531/metadc668901/m1/2/: accessed April 23, 2024), University of North Texas Libraries, UNT Digital Library, https://digital.library.unt.edu; crediting UNT Libraries Government Documents Department.