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https://doi.org/10.18429/JACoW-ICALEPCS2017-TUPHA127
Title A Dual Arms Robotic Platform Control for Navigation, Inspection and Telemanipulation
Authors
  • M. Di Castro, L. R. Buonocore, S.S. Gilardoni, R. Losito, G. Lunghi, A. Masipresenter
    CERN, Geneva, Switzerland
  • M. Ferre
    ETSII UPM, Madrid, Spain
Abstract High intensity hadron colliders and fixed target experiments at CERN require an increasing amount of robotic tele-manipulation interventions to prevent and reduce excessive exposure of maintenance personnel to the radioactive environment. Tele-manipulation tasks are often required on dated radioactive devices which were not conceived to be maintained and handled using standard one arm robotic solutions. Robotic platforms with a level of dexterity that often requires using two robotic arms with a minimum of six degrees of freedom are instead needed for these purposes. In this paper, the control of a novel robust robotic platform able to host and to carry safely a dual-arms robotic system is presented. The arms and the vehicle controls are fully integrated in order to guarantee simplicity to the operators during the realization of the robotic tasks. A novel high-level control architecture for the new robot is shown, as well as a novel low-level safety layer for anti-collision and recovery scenarios. Preliminary results of the system commissioning are presented using CERN accelerator facilities as a use case.
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Poster download TUPHA127_POSTER.PDF [5.742 MB]
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Conference ICALEPCS2017, Barcelona, Spain
Series International Conference on Accelerator and Large Experimental Control Systems (16th)
Proceedings Link to full ICALEPCS2017 Proccedings
Session Poster Session
Date 10-Oct-17   16:45–19:00
Main Classification Feedback Control and Process Tuning
Keywords ion, controls, operation, hardware, interface
Publisher JACoW, Geneva, Switzerland
Editors Volker RW Schaa (GSI, Darmstadt, Germany); Isidre Costa (ALBA-CELLS, Cerdanyola del Vallès, Spain); David Fernández (ALBA-CELLS, Cerdanyola del Vallès, Spain); Óscar Matilla (ALBA-CELLS, Cerdanyola del Vallès, Spain)
ISBN 978-3-95450-193-9
Published January 2018
Copyright
Copyright © 2018 by JACoW, Geneva, Switzerland     CC-BY Creative Commons License
cc Creative Commons Attribution 3.0