Collaborative Robots vs. Master/Slaves - 19522

Abstract

This paper will discuss the feasibility, application, and economy of applying collaborative robots (co-bots) in lieu of traditional through-the-wall tele-operated manipulator systems, traditionally used within hazardous (radioactive) environments. Both fixed facility and mobile applications will be discussed. Both single- and dual-armed co-bot systems will be employed. The six-axis, plus gripper, single-armed co-bots will provide for machine vision enhanced pick-n-place applications within shielded rooms and also include force-reflecting (haptic) teleoperations controls for non-routine materials-handling operations. The dual-armed system will be mounted to a motorized stand with motorized adjustment both vertically and rotationally (around its base). To complement these co-bots, both two-dimensional and three-dimensional vision technologies will be implemented. The vision technologies, in these applications, are used in lieu of traditional radiation shielding windows. two-dimensional video systems will provide for large area viewing, incorporating pan, tilt, and zoom capabilities. Three-dimensional video systems will be mounted to the dual-armed robot stand and provide viewing, including depth-of-perception, to the operator, performing material handling and other tasks, from an operator workstation located outside the hazardous environment. The unique workstation used with the dual-armed systems will also be described. (authors)