Real Time Virtual Reality 3D Animation and Control System for Nuclear Service Robotics

Abstract

The ROSACAD robotic control system developed by Westinghouse Electric Corporation provides a robot operator with real time 3D virtual reality animation of the robot in its environment and provides on-line look ahead collision avoidance. The operator interface is ideal for systems that use teleoperation, or those in which the robot's work envelope is congested with many obstacles. The operations software uses object-oriented coding which allows easy extension to new applications and is specifically design to integrate teleoperation interspersed with autonomous sequences. Any robot and environment can be modeled through the use of the ROBCAD solid modeling software, including the presence of moving obstacles. ROSACAD is a generic interface and control system that has been applied in many diverse robotic systems ranging from nuclear steam generator service arms to pipe crawlers.