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Manipulation Tasks in Hazardous Environments Using a Teleoperated Robot: A Case Study at CERN.

Cosimo Gentile1,2, Giacomo Lunghi3, Luca Rosario Buonocore3

  • 1Centro Protesi Inail, Vigorso di Budrio, 40054 Bologna, Italy.

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|February 28, 2023
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Summary
This summary is machine-generated.

New robotic modules enhance safety and efficiency in managing optical fibers at CERN. These systems detect touch and slippage, regulating grip force for complex remote handling tasks.

Keywords:
force controlindustrial grippermobile robotsslippage detectionteleoperation

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Area of Science:

  • Robotics
  • Instrumentation
  • Accelerator Physics

Background:

  • Remote robotic systems are crucial for tasks in hazardous environments like the CERN accelerator complex.
  • Manual handling of delicate components like optical fibers poses risks to operators and equipment.

Purpose of the Study:

  • To introduce two novel modules within the CERNTAURO framework for safe and efficient optical fiber management.
  • To develop a system that detects touch and slippage while regulating grasping force during remote operations.

Main Methods:

  • Implementation of two new modules: one for touch/slippage detection, another for force regulation and slippage control.
  • Utilizing object recognition and a look-up table method to determine the optimal force reference.
  • Validation through experimental testing within the CERN laboratory environment.

Main Results:

  • Preliminary results show statistically significant improvements in time-based efficiency.
  • Demonstrated increases in the overall relative efficiency of remote handling tasks.
  • Successful validation of the developed robotic modules in a controlled laboratory setting.

Conclusions:

  • The presented CERNTAURO framework modules offer a safe and usable solution for managing optical fibers and connectors remotely.
  • The novel approach enhances operational efficiency and reduces risks associated with manual intervention in accelerator facilities.
  • The system's effectiveness in force and slippage control paves the way for more advanced robotic applications in complex scientific infrastructures.