Remote manipulator and its teleoperated guide vehicle for hazardous waste sampling operations

A remote manipulator and its teleoperated guide vehicle were developed for laser-aided surface sampling operations at hazardous waste sites. This equipment was designed to reduce or eliminate human interaction with the hazardous contaminants. The 3 degree-of-freedom (DOF) remote manipulator with a sampling probe mounted on the end of the robotic arm is operated either by a master/slave controller or a computer keyboard command. The teleoperated guide vehicle moves by remote control the manipulator (mounted on a trailer) into the desired sampling locations in the contaminated field. This paper deals with the mechanical design considerations, control system, and capabilities of both the manipulator and the teleoperated guide vehicle. The results of field tests are also presented.< >