Mock-up of hazardous material handling tasks using a dual-arm robotic system

Research output: Contribution to book or proceedingConference articlepeer-review

16 Scopus citations

Abstract

This paper describes experimentation in the deployment feasibility of robotic systems for Deactivation and Decommissioning (D&D) tasks associated with hazardous nuclear site clean-up. The dismantlement process often involves size reduction of the equipment so that it can be stored more efficiently in nuclear waste sites. The prototyping of a D&D type task using a dual-arm robotic system is selected for a mock-up application. The material size reduction task includes the use of one arm of the dual-arm robot to hold and position the work piece while the other arm uses off-the-shelf tooling to perform work on the work piece in a cooperative manner. Descriptions of the requirements, system hardware and prototype experiment are provided.

Original languageEnglish
Title of host publicationRobotics, Automation, Control and Manufacturing
Subtitle of host publicationTrends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002
Pages527-532
Number of pages6
StatePublished - 2002
Event9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002 - Orlando, FL, United States
Duration: Jun 9 2002Jun 13 2002

Publication series

NameRobotics, Automation, Control and Manufacturing: Trends, Principles and Applications - Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002
Volume14

Conference

Conference9th Int. Symp. on Robotics and Applications, ISORA 2002, 8th Int. Symp. on Manufacturing and Applications, ISOMA 2002 and 4th Int. Symposium on Intelligent Automation and Control, ISIAC 2002, Held within the World Automation Congress, WAC 2002
Country/TerritoryUnited States
CityOrlando, FL
Period06/9/0206/13/02

Keywords

  • Cooperative manipulation
  • D&D application
  • Dual-arm robot
  • Experimentation

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