Strategies for redundancy resolution of dual-arm systems with passive elements for tank waste removal

PDF Version Also Available for Download.

Description

The work described in this paper focuses on the coordination and control of two manipulators coupled by passive elements operating in a confined space. An example of one such system is the hardware used for the environmental response treatability study funded by the Department of Energy at Oak Ridge National Laboratory (ORNL). The motivation for this project is to establish the methodology necessary to extract large volumes of hazardous waste from underground storage facilities. The hardware used at ORNL consists of two long-reach manipulators. The first robot, the Modified Light Duty Utility Arm (MLDUA), is an 8-degree-of-freedom long-reach manipulator. The ... continued below

Physical Description

8 p.

Creation Information

Dubey, R. & Love, L.J. March 1, 1997.

Context

This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. More information about this article can be viewed below.

Who

People and organizations associated with either the creation of this article or its content.

Authors

  • Dubey, R. Univ. of Tennessee, Knoxville, TN (United States). Dept. of Mechanical Engineering
  • Love, L.J. Oak Ridge Inst. for Science and Education, TN (United States)

Sponsors

Publisher

Provided By

UNT Libraries Government Documents Department

Serving as both a federal and a state depository library, the UNT Libraries Government Documents Department maintains millions of items in a variety of formats. The department is a member of the FDLP Content Partnerships Program and an Affiliated Archive of the National Archives.

Contact Us

What

Descriptive information to help identify this article. Follow the links below to find similar items on the Digital Library.

Description

The work described in this paper focuses on the coordination and control of two manipulators coupled by passive elements operating in a confined space. An example of one such system is the hardware used for the environmental response treatability study funded by the Department of Energy at Oak Ridge National Laboratory (ORNL). The motivation for this project is to establish the methodology necessary to extract large volumes of hazardous waste from underground storage facilities. The hardware used at ORNL consists of two long-reach manipulators. The first robot, the Modified Light Duty Utility Arm (MLDUA), is an 8-degree-of-freedom long-reach manipulator. The second arm, the Hose Management Arm (HMA), has two active degrees-of-freedom and provides hardware to break up and extract materials from the tank. Current strategies call for the MLDUA to grasp a combined sluicing end-effector attached, by a long flexible hose, to the HMA. The MLDUA will then move the combined system through the waste, extracting material. This paper describes many of the issues related to redundancy resolution and the coordinated control of these two robots. First, the authors provide a brief outline of the project and the existing hardware. This is followed by a description of existing redundancy resolution techniques and the impact redundancy has on the success of the project. Finally, preliminary simulation results show the effect cooperative control has on the level of forces generated between the dual-arm systems when coupled by an elastic exhaust hose. These results show a significant reduction in forces when both arms are active and have a combined manipulation strategy.

Physical Description

8 p.

Notes

INIS; OSTI as DE97002988

Source

  • 7. American Nuclear Society topical meeting on robotics and remote systems, Augusta, GA (United States), 27 Apr - 1 May 1997

Language

Item Type

Identifier

Unique identifying numbers for this article in the Digital Library or other systems.

  • Other: DE97002988
  • Report No.: CONF-970464--5
  • Grant Number: AC05-96OR22464
  • Office of Scientific & Technical Information Report Number: 459341
  • Archival Resource Key: ark:/67531/metadc685096

Collections

This article is part of the following collection of related materials.

Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

What responsibilities do I have when using this article?

When

Dates and time periods associated with this article.

Creation Date

  • March 1, 1997

Added to The UNT Digital Library

  • July 25, 2015, 2:21 a.m.

Description Last Updated

  • June 14, 2016, 8:46 p.m.

Usage Statistics

When was this article last used?

Yesterday: 0
Past 30 days: 0
Total Uses: 2

Interact With This Article

Here are some suggestions for what to do next.

Start Reading

PDF Version Also Available for Download.

Citations, Rights, Re-Use

Dubey, R. & Love, L.J. Strategies for redundancy resolution of dual-arm systems with passive elements for tank waste removal, article, March 1, 1997; Tennessee. (digital.library.unt.edu/ark:/67531/metadc685096/: accessed October 21, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.