The Role of Sensor Directed, Model-Based Control in Robotic Handling of Nuclear Waste Casks and Materialsby P. C. Bennett, Sandia Natl Lab, United States,
Abstract: This paper discusses the results from several projects at Sandia National Laboratories investigating the application of intelligent machine technologies to remote handling of nuclear waste casks and materials. In particular, the importance of computer models of the robot, its environment and their interactions is focused upon. Integration of such models into the sensor based control of robot systems results in significant increases in the capabilities of commercial robots by allowing tuning of robot performance to the task.
Subject Headings: Robotics | Radioactive wastes | Computer models | Probe instruments | Control systems | Waste disposal | Nuclear power
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