SMART: a modular architecture for robotics and teleoperation

SMART (Sequential Modular Architecture for Robotics and Teleoperation) is introduced. SMART is designed to integrate the different slave devices (e.g., large hydraulic arms, mobile manipulators, gantry robots), sensors (e.g., ultrasonic sensors, force sensors) and input devices, (e.g., space ball, force-reflecting master, autonomous trajectory generators) required for waste management and environmental restoration tasks. The modular architecture allows for rapid synthesis of complex telerobotic systems. Some sample modules are discussed. It is shown how the modules can be connected to achieve telerobotic behavior. Examples include autonomous control, impedance control, and enhanced bilateral teleoperation