Dual Arm Work Package performance estimates and telerobot task network simulation
Dual Arm Work Package performance estimates and telerobot task network simulation
复制标题
双臂工作包性能评估和远程机器人任务网络模拟
DOI：
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发表时间：
1997
期刊：
影响因子：
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通讯作者：
L. Blair
中科院分区：
文献类型：
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作者：
J. Draper;L. Blair
本文描述了用于拆除阿贡国家实验室CP-5反应堆的双臂工作包（DAWP）的网络模拟研究的方法和结果。仿真模型的开发是基于对同一系统的任务分析结果。这项研究是由橡树岭国家实验室（ORNL）的机器人和过程系统部门进行的。美国能源部技术发展办公室机器人技术发展计划（RTDP）提供了资金。RTDP正在开发计算机仿真方法来评估远程机器人系统的性能。收集数据以提供用于任务网络仿真模型的点估计。三名熟练的操作员执行了六次管道切割任务，代表了典型的远程操作切割操作。
This paper describes the methodology and results of a network simulation study of the Dual Arm Work Package (DAWP), to be employed for dismantling the Argonne National Laboratory CP-5 reactor. The development of the simulation model was based upon the results of a task analysis for the same system. This study was performed by the Oak Ridge National Laboratory (ORNL), in the Robotics and Process Systems Division. Funding was provided the US Department of Energy`s Office of Technology Development, Robotics Technology Development Program (RTDP). The RTDP is developing methods of computer simulation to estimate telerobotic system performance. Data were collected to provide point estimates to be used in a task network simulation model. Three skilled operators performed six repetitions of a pipe cutting task representative of typical teleoperation cutting operations.