Local-remote telerobotics for underwater vehicles

Author

Backes, Paul G. ; Long, Mark K.

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

fYear

1992

fDate

2-3 Jun 1992

Firstpage

11

Lastpage

15

Abstract

An operational local-remote telerobot system which provides interactive supervisory control of robots which are spatially and/or temporally remote from the local operator station is described. The system has been implemented for the NASA Space Station Freedom engineering prototype development program as a technology prototype dual-arm local-remote system for space telerobotics. The system has two distinct parts: the local site user macro interface for interactive task description and execution, and the remote site task execution system providing single and dual-arm autonomous control. Various time delays can be artificially introduced into the laboratory system to study operations under communication time delay. The remote site of the system and the local site are described. Experimental results are presented. Advanced capabilities currently under development are discussed

Keywords

aerospace computer control; marine systems; mobile robots; telecontrol; NASA Space Station Freedom; dual-arm local-remote system; interactive supervisory control; local-remote telerobot system; robots; submarines; underwater vehicles; Automotive engineering; Delay effects; NASA; Orbital robotics; Prototypes; Space stations; Space technology; Supervisory control; Telerobotics; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicle Technology, 1992. AUV '92., Proceedings of the 1992 Symposium on

Conference_Location

Washington, DC

Print_ISBN

0-7803-0704-6

Type

conf

DOI

10.1109/AUV.1992.225198

Filename

225198