Many deactivation and decommissioning, tank remediation, and waste processing tasks will require remote manipulation to reduce worker exposures. Most remote operations can be performed more effectively with two or more arms rather than with a single manipulator even if one of the arms is a simple mechanical system such as a crane hook. Coordinated control of these multiple manipulation systems is required to increase effectiveness and efficiency. This project will develop a sensor based control system that will provide automated coarse positioning of multiple arms in coordinated motions within a task space. In this approach, the final positioning and operation of tools for task execution will be performed remotely by human operators for tasks such as grasping, cutting, waste retrieval, sorting or characterization. Phase I will determine the sensor enhancements and software medications required to extend a previously demonstrated single robot task scene analyzer to control multiple manipulator systems performing a coordinated task. Input from field experienced personnel will be used to identify tasks that could be performed more effectively with multiple arms, and tooling requirements will be determined for each arm. A laboratory scale feasibility demonstration will be conducted.
Commercial Applications and Other Benefits as described by the awardee: The sensor package and control system would be developed as a product that could interface with most common manipulator control systems. This product could be used by single or multiple manipulator systems to reduce operator effort to position manipulator tools.
