The modular telerobot task execution system for space telerobotics

A telerobot task execution system that has been developed for space station Freedom applications is described. The modular telerobot task execution system (MOTES) provides the remote site task execution capability in a local-remote telerobotic system. The design addresses the constraints of limited computational power available at the remote site control system while providing a large range of control capabilities. The system provides supervised autonomous control, shared control, and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion. A command interpreter similar to one used on robotic spacecraft is used to interpret commands received from the local site. Execution utilizes multiple control modules which execute based upon command parameterization. The system controls a seven degree-of-freedom manipulator