Manipulation Tasks in Hazardous Environments Using a Teleoperated Robot: A Case Study at CERN
Cosimo Gentile, Giacomo Lunghi, Luca Rosario Buonocore, Francesca Cordella, Mario Di Castro, A. Masi, Loredana Zollo
Abstract
Remote robotic systems are employed in the CERN accelerator complex to perform different tasks, such as the safe handling of cables and their connectors. Without dedicated control, these kinds of actions are difficult and require the operators' intervention, which is subjected to dangerous external agents. In this paper, two novel modules of the CERNTAURO framework are presented to provide a safe and usable solution for managing optical fibres and their connectors. The first module is used to detect touch and slippage, while the second one is used to regulate the grasping force and contrast slippage. The force reference was obtained with a combination of object recognition and a look-up table method. The proposed strategy was validated with tests in the CERN laboratory, and the preliminary experimental results demonstrated statistically significant increases in time-based efficiency and in the overall relative efficiency of the tasks.