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TY - CONF AU - Di Castro, M. AU - Buonocore, L. R. AU - Ferre, M. AU - Gilardoni, S.S. AU - Losito, R. AU - Lunghi, G. AU - Masi, A. ED - Schaa, Volker RW ED - Costa, Isidre ED - Fernández, David ED - Matilla, Ãscar TI - A Dual Arms Robotic Platform Control for Navigation, Inspection and Telemanipulation J2 - Proc. of ICALEPCS2017, Barcelona, Spain, 8-13 October 2017 C1 - Barcelona, Spain T2 - International Conference on Accelerator and Large Experimental Control Systems T3 - 16 LA - english AB - 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. PB - JACoW CP - Geneva, Switzerland SP - 709 EP - 713 KW - ion KW - controls KW - operation KW - hardware KW - interface DA - 2018/01 PY - 2018 SN - 978-3-95450-193-9 DO - 10.18429/JACoW-ICALEPCS2017-TUPHA127 UR - http://jacow.org/icalepcs2017/papers/tupha127.pdf ER -