Shared control of multiple-manipulator, sensor-based telerobotic systems

Author

Williams, Robert L., II ; Harrison, F. Wallace ; Soloway, Donald I.

Author_Institution

Ohio Univ., Athens, OH, USA

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

962

Abstract

A control architecture is presented for real-time, sensor-based, shared control of remote, multiple-manipulator telerobotic systems. The system allows teleoperation, autonomy, or a combination (shared, telerobotic control). The rate-based system accepts control inputs from a variety of sources (joystick position or velocity, automated path planner position or velocity, machine vision, force/moment) simultaneously for all Cartesian axes. The system has been experimentally implemented and has proven effective in laboratory simulations of remote space tasks

Keywords

manipulators; real-time systems; sensors; telerobotics; Cartesian axes; automated path planner position; autonomous operation; force/moment input; joystick position; joystick velocity; machine vision; multiple-manipulator sensor-based telerobotic systems; path planner velocity; real-time sensor-based shared control; remote multiple-manipulator telerobotic systems; remote space tasks; Automatic control; Control systems; Force control; Humans; Machine vision; Manipulators; NASA; Real time systems; Robot kinematics; Telerobotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614259

Filename

614259