Telerobotics with whole-arm collision avoidance

Karl Child Wilhelmsen; Stephen Strenn

doi:10.1117/12.164897

21 December 1993 Telerobotics with whole-arm collision avoidance

Karl Child Wilhelmsen, Stephen Strenn

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164897
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

The complexity of telerobotic 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 is desirable. With this goal in mind Lawrence Livermore National Laboratory (LLNL) has installed a kinetically similar 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.

Citation Download Citation

Karl Child Wilhelmsen and Stephen Strenn "Telerobotics with whole-arm collision avoidance", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164897

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