The evolution of teleoperated manipulators at ORNL

ORNL has made significant contributions to teleoperator and telerobotics technology for two decades and continues with an aggressive program today. Examples of past projects are: (1) the M2 servomanipulator, which was the first digitally controlled teleoperator; (2) the Advanced Servomanipulator (ASM), which was the first remotely maintainable teleoperator; (3) the CESARm/Kraft dissimilar teleoperated system; and (4) the Laboratory Telerobotic Manipulator (LTM), a 7-Degree-of-Freedom (7-DOF) telerobot built as a prototype for work in space. More recently, ORNL has become heavily involved with Environmental Restoration and Waste Management (ERWM) robotics programs funded by the Department of Energy (DOE). The ERWM program requires high payloads and high dexterity. As a result, a hydraulically actuated, dual-arm system comprised of two 6-DOF arms mounted on a 5-DOF base has been constructed and is being used today for various research tasks and for decontamination and dismantlement activities. All of these teleoperated manipulator systems build upon the experiences gained throughout the almost two decades of development. Each system incorporates not only the latest technology in computers, sensors, and electronics, but each new . system also adds at least one new feature to the technologies already developed and demonstrated in the previous system(s). As a result of this process, a serious study of these manipulator systems is a study in the evolution of teleoperated manipulator the systems in general. This provides insight not only into the research and development paths chosen in the past, but also into the appropriate directions for future teleoperator and telerobotics research. This paper examines each of the teleoperated/telerobotic systems developed at ORNL, summarizes their features and capabilities, examines the state of the most current telerobotic system (the Dual Arm Work Module), PM provides direction for a Next Generation Telerobotic Manipulator system.