Distributed microcomputer control system for advanced teleoperation

A modular and expandable distributed microcomputer hardware and software system is described matching the natural needs of real-time mechanization of manipulator control in space teleoperation. The natural needs include: (a) distribution of real-time control computing power between control station and remote robot arms equipped with smart end effectors and (b) the use of interchangeable control techniques like (i) generalized force-reflecting hand control, (ii) sensor-referenced automatic control and (iil) supervisory control with interface to high level task planning control. The distributed microcomputer control system is also handling computer graphics displays and the control of TV cameras. The paper describes the major components of the modular control software system including inter-processor communication and control mode selection. A simulation example is quoted to verify control hardware/software performance and to aid human operator control performance studies.