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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.
Sensors (Basel, Switzerland)
|February 28, 2023
Summary
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.
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.
