Automated waste canister docking and emplacement using a sensor-based intelligent controller. Yucca Mountain Site Characterization Project.

摘要

A sensor-based intelligent control system is described that utilizes a multiple degree-of-freedom robotic system for the automated remote manipulation and precision docking of large payloads such as waste canisters. Computer vision and ultrasonic proximity sensing are used to control the automated precision docking of a large object with a passive target cavity. Real-time sensor processing and model-based analysis are used to control payload position to a precision of (plus minus) 0.5 millimeter.