The need for a telerobotic vehicle with hazard sensing and integral manipulation capabilities has been identified for use in transportation accidents where nuclear weapons are involved. The Accident Response Mobile Manipulation System (ARMMS) platform has been developed to provide remote dexterous manipulation and hazard sensing for the Accident Response Group (ARG) at Sandia National Laboratories. The ARMMS mobility platform is a military HMMWV (High Mobility Multipurpose Wheeled Vehicle) that is teleoperated over RF or Fiber Optic communication channels. ARMMS is equipped with two high strength Schilling Titan II manipulators and a suite of hazardous gas and radiation sensors. Recently, a modular telerobotic control architecture called SMART (Sandia Modular Architecture for Robotic and Teleoperation) has been applied to ARMMS. SMART enables input devices and many system behaviors to be rapidly configured in the field for specific mission needs. This paper summarizes current SMART developments applied to ARMMS


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    Titel :

    Reconfigurable Mobile Manipulation for Accident Response


    Beteiligte:
    R. J. Anderson (Autor:in) / W. D. Morse (Autor:in) / D. L. Shirley (Autor:in) / D. M. Cdebaca (Autor:in) / J. P. Hoffman (Autor:in)

    Erscheinungsdatum :

    2000


    Format / Umfang :

    12 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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