QRobot is a PC-based system for telerobotic decontamination and decommissioning. The system integrates hardware interfacing, real-time joint level control, sensors, control of tools, networking and task level programming (ARCL) as well as operator interfaces using video and virtual reality. The system demonstrates that the PC, a cost effective and widely used platform, is well suited to the integration of real-time control tasks and advanced user interfaces. In the first stage of the project, the joint level control was implement on a QNX 4 PC and a network interface to the robot control library RCCL was developed. In the second stage, RCCL was replaced by ARCL, running on the same QNX 4 PC. QRobot is part of the Virtual Reality Based Telerobotic Decontamination and Decommissioning Project.

Project Date 1997 - 1998
Customer Clemson University, USA /  Department of Energy
Operating System QNX 4.25
Hardware PC, ServoToGo motion control card
Programming Environment C++, GNU, Watcom
Technologies Real-time, motion control cards, Puma manipulators
Impact Demonstrates how a PC with a real-time operating system to the integration of real-time control tasks and advanced user interfaces

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