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Proceedings Paper

Design Of An Obstacle Avoidance System For AIMS
Author(s): David B, Reister; Mark W. Noakes
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Paper Abstract

The Advanced Integrated Maintenance System (AIMS) is a remote maintenance system that uses a dual-arm teleoperator to control the Advanced Servomanipulator (ASM). Although, the ASM was designed for nuclear fuel reprocessing, it can provide a testbed for space telerobotics (space servicing and assembly). The objective of this project is to design and implement a generalized capability for automatic path-planning and obstacle avoidance during motion of the manipulator transporter (overhead crane and main manipulator shaft) from one work location in the hotcell to another. The work is to be accomplished in two phases. In the first phase, the transporter will move in a known world. In the second phase, sensor data will be used to update and verify the world model and the system will have the capability to avoid unexpected obstacles. This paper describes the design and initial development of a system for phase one. The phase one system will have three components: operator interface, navigation code, and hardware interface. The operator interface will be the most complex part of the system and will have three components: display, goal editor, and geometry editor. The display will allow the AIMS operator to view a three dimensional representation of the location of the ASM in the hotcell. The goal editor will allow the operator to define a goal for the ASM. The geometry editor will display the geometry of the hotcell and allow the operator to add or remove objects from the geometry. The navigation code will explore the geometry and define a clear path from the current position to the goal. The hardware interface will monitor the position of the ASM and send signals to the existing transporter control system and to the display.

Paper Details

Date Published: 27 October 1988
PDF: 8 pages
Proc. SPIE 1006, Space Station Automation IV, (27 October 1988); doi: 10.1117/12.949066
Show Author Affiliations
David B, Reister, Oak Ridge National Laboratory (United States)
Mark W. Noakes, Oak Ridge National Laboratory (United States)

Published in SPIE Proceedings Vol. 1006:
Space Station Automation IV
Wun C. Chiou Sr., Editor(s)

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