Using Range Vision for Telerobotic Control in Hazardous Environments

Abstract

This paper descries how range vision augments a telerobotic system. The robot has a manipulator arm mounted onto a mobile platform. The robot is driven by a human operator under remote control to a worksite, and then the operator uses video cameras and laser range images to perform manipulation tasks. A graphical workstation displays a three-dimensional image of the workspace to the operator, and a CAD model of the manipulator moves in this "virtual environment" while the actual manipulator moves in the real workspace. This paper gives results of field trials of a remote excavation system, and describes a remote inspection system being developed for reactor maintenance.