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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2411.13994 |
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| _version_ | 1866909398244261888 |
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| author | Lee, Joong-Ku Park, Young Soo |
| author_facet | Lee, Joong-Ku Park, Young Soo |
| contents | This paper introduces a dual-arm telerobotic platform designed to efficiently and safely execute hot cell operations for nuclear waste disposition at EM sites. The proposed system consists of a remote robot arm platform and a teleoperator station, both integrated with a software architecture to control the entire system. The dual-arm configuration of the remote platform enhances versatility and task performance in complex and hazardous environments, ensuring precise manipulation and effective handling of nuclear waste materials. The integration of a teleoperator station enables human teleoperator to remotely control the entire system real-time, enhancing decision-making capabilities, situational awareness, and dexterity. The control software plays a crucial role in our system, providing a robust and intuitive interface for the teleoperator. Test operation results demonstrate the system's effectiveness in operating as a remote hotbox for nuclear waste disposition, showcasing its potential applicability in real EM sites. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_13994 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Dual-Arm Telerobotic Platform for Robotic Hotbox Operations for Nuclear Waste Disposition in EM Sites Lee, Joong-Ku Park, Young Soo Robotics This paper introduces a dual-arm telerobotic platform designed to efficiently and safely execute hot cell operations for nuclear waste disposition at EM sites. The proposed system consists of a remote robot arm platform and a teleoperator station, both integrated with a software architecture to control the entire system. The dual-arm configuration of the remote platform enhances versatility and task performance in complex and hazardous environments, ensuring precise manipulation and effective handling of nuclear waste materials. The integration of a teleoperator station enables human teleoperator to remotely control the entire system real-time, enhancing decision-making capabilities, situational awareness, and dexterity. The control software plays a crucial role in our system, providing a robust and intuitive interface for the teleoperator. Test operation results demonstrate the system's effectiveness in operating as a remote hotbox for nuclear waste disposition, showcasing its potential applicability in real EM sites. |
| title | Dual-Arm Telerobotic Platform for Robotic Hotbox Operations for Nuclear Waste Disposition in EM Sites |
| topic | Robotics |
| url | https://arxiv.org/abs/2411.13994 |