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Proceedings Paper

Telerobotics with whole-arm collision avoidance
Author(s): Karl Child Wilhelmsen; Stephen Strenn
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Paper 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.

Paper Details

Date Published: 21 December 1993
PDF: 12 pages
Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164897
Show Author Affiliations
Karl Child Wilhelmsen, Lawrence Livermore National Lab. (United States)
Stephen Strenn, Lawrence Livermore National Lab. (United States)


Published in SPIE Proceedings Vol. 2057:
Telemanipulator Technology and Space Telerobotics
Won Soo Kim, Editor(s)

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