A supervisory telerobotic control system using model-based vision feedback

A hierarchical telerobotic control system for experiments with model-based vision feedback is described. The human operator issues commands to a high-level controller which plans actions to be carried out by the low-level controller. A feedforward model of the robot´s motion is used by the vision system to look for visual enhancements on the robot in their anticipated positions. A middle-level module is planned which will alter low-level control gains to maintain performance within error bounds. Results of experiments with the vision system and studies of control strategies for vision feedback are discussed