Title :
Graphical model based control of intelligent robot systems
Author :
Drotning, W. ; Christensen, B. ; Thunborg, S.
Author_Institution :
Sandia Nat. Lab., Albuquerque, NM, USA
Abstract :
Experimental investigations of the application of intelligent robot control technology to the removal of radioactive waste stored in underground tanks are described, with particular attention to the computing and software control environment. Intelligent system control is achieved through the integration of extensive geometric and kinematic world models with real-time sensor-based control. All operator interactions with the system are through fully animated graphical representations that validate all operator commands before execution to provide for safe operation. Sensing is used to add information to the robot system´s world model and to allow sensor-based servo control during selected operations. The results of a first test are reported, and the potential for applying advanced intelligent control concepts to this problem is discussed.<>
Keywords :
computerised materials handling; kinematics; knowledge based systems; radiation decontamination; radioactive waste; robots; telecontrol; animated graphical representations; computerised materials handling; geometric world models; intelligent robot control technology; intelligent robot systems; kinematic world models; operator commands; radiation decontamination; radioactive waste; real-time sensor-based control; safe operation; sensor-based servo control; telecontrol; underground tanks; Application software; Control system synthesis; Graphical models; Intelligent control; Intelligent robots; Intelligent sensors; Intelligent systems; Radio control; Radioactive waste; Robot control;
Journal_Title :
Control Systems, IEEE