A SEMI-AUTONOMOUS MANIPULATOR SYSTEM FOR DECONTAMINATION AND RELEASE MEASUREMENT

被引：0
|
作者：
Mende, M. [1 ]
Notheis, S. [1 ]
Stogl, D. [1 ]
Hein, B. [1 ]
Woern, H. [1 ]
Kern, P. [1 ]
Gentes, S. [1 ]
机构：
[1] Karlsruhe Inst Technol, Inst Proc Control & Robot, Inst Technol & Management Construct, D-76021 Karlsruhe, Germany
来源：
MOBILE SERVICE ROBOTICS | 2014年
关键词：
decontamination; release measurement; environment model; path planning;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a system that allows for semi-autonomous decontamination and radiation measurement of surfaces as found during dismantling of nuclear power plants. The hardware setup comprises a transport system and a manipulator equipped with vacuum suction units to move along walls. Furthermore, the algorithms for acquiring and processing an environment model as well as path planning based on the kinematic constraints of the manipulator are discussed. The software framework also allows for seamless switching between simulation and reality for real-time monitoring.
引用
收藏
页码：125 / 132
页数：8
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