A waste retrieval system was prepared and tested by GreyPilgrim LLC, Waterjet Technology, Inc., and NIST on behalf of the Hanford Tanks Initiative. This system was tested for static deflection, vibration response, and control system effectiveness, and was used in a demonstration of waste retrieval. Performance of the manipulator was better than anticipated by the project team, and as of this writing the manipulator is still in service eight months after demonstration. This report summarizes the results of this testing, and briefly highlights near-term development plans for the manipulator.


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    Title :

    Demonstration and Testing of a Waste Conveyance System Based on Robotic Manipulator EMMA


    Contributors:

    Conference:

    Third ASCE Specialty Conference on Robotics for Challenging Environments ; 1998 ; Albuquerque, New Mexico, United States


    Published in:

    Robotics 98 ; 99-105


    Publication date :

    1998-04-21




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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