An integrated tele-robotics system with a geometric environment model and manipulation skills

Describes an integrated tele-robotics system for remote execution of assembly and disassembly of mechanical components in hazardous environments such as nuclear power plants, undersea and space. The key concept of this system integration consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and physical properties of the objects in the environment. The manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. Based on the model and skills, the system autonomously executes specified tasks. In addition, the system provides the operator with a 1-DOF bilateral control dial as an intervention tool for real-time remote assistance of manipulator movement for error avoidance and recovery. With these features, robustness and reliability in remote task execution has been achieved