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 |
Screenshot
