The Rail Yard Automated Helper (RYAH) features an eight joint robotic arm integrated with a hydrostatic drive mobility unit. The unit can be tele-operated in a manned, computer aided mode. The RYAH increases rail yard worker safety by determining exposure to physical activities that result in injury such as slipping, falling, over-exertion and entrapment. The system controller provides: 1) A resolved motion control capability for the end effecter of the arm. 2) Integrated control of the eight joints of the arm and the mobility unit to provide a seamless inspection and maintenance workspace over multiple railcars. Under operator supervision, the system can automatically position relative to a rail car and execute an automated inspection of the truck by moving both the mobility unit and the arm in a coordinated fashion. The slenderness of the arm enables the inspection of the railcars underbody and truck bearing, brake and suspension subsystems. The 25 lb. payload/force capability of the arm provides a maintenance task capability, a preliminary concept for a glad hand coupling tool is presented. The RYAHs image data collection capability enables consistency in inspections and documentation, and also enables data archive for trending analyses
