NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
A testbed for a unified teleoperated-autonomous dual-arm robotic systemThis paper describes a complete robot control facility built at the Jet Propulsion Laboratory as part of NASA a telerobotics program to develop a state-of-the-art robot control environment for laboratory based space-like experiments. This system, which is now fully operational, has the following features: separation of the computing facilities into local and remote sites, autonomous motion generation in joint or Cartesian coordinates, dual-arm force reflecting teleoperation with voice interaction between the operator and the robots, shared control between the autonomously generated motions and operator controlled teleoperation, and dual-arm coordinated trajectory generation. The system has been used to carry out realistic experiments such as the exchange of an Orbital Replacement Unit (ORU), bolt turning, and door opening, using a mixture of autonomous actions and teleoperation, with either a single arm or two cooperating arms.
Document ID
19910035178
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hayati, S.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Lee, T.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Tso, K.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Backes, P.
(JPL Pasadena, CA, United States)
Lloyd, J.
(McGill University Montreal, Canada)
Date Acquired
August 15, 2013
Publication Date
January 1, 1990
Subject Category
Cybernetics
Accession Number
91A19801
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available