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Proceedings Paper

Modular telerobot control system for accident response
Author(s): Richard J. M. Anderson; David L. Shirey
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Paper Abstract

The Accident Response Mobile Manipulator System (ARMMS) is a teleoperated emergency response vehicle that deploys two hydraulic manipulators, five cameras, and an array of sensors to the scene of an incident. It is operated from a remote base station that can be situated up to four kilometers away from the site. Recently, a modular telerobot control architecture called SMART was applied to ARMMS to improve the precision, safety, and operability of the manipulators on board. Using SMART, a prototype manipulator control system was developed in a couple of days, and an integrated working system was demonstrated within a couple of months. New capabilities such as camera-frame teleoperation, autonomous tool changeout and dual manipulator control have been incorporated. The final system incorporates twenty-two separate modules and implements seven different behavior modes. This paper describes the integration of SMART into the ARMMS system.

Paper Details

Date Published: 26 August 1999
PDF: 9 pages
Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360342
Show Author Affiliations
Richard J. M. Anderson, Sandia National Labs. (United States)
David L. Shirey, Sandia National Labs. (United States)


Published in SPIE Proceedings Vol. 3839:
Sensor Fusion and Decentralized Control in Robotic Systems II
Gerard T. McKee; Paul S. Schenker, Editor(s)

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