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Telerobot local-remote control architecture for space flight program applicationsThe JPL Supervisory Telerobotics (STELER) Laboratory has developed and demonstrated a unique local-remote robot control architecture which enables management of intermittent communication bus latencies and delays such as those expected for ground-remote operation of Space Station robotic systems via the Tracking and Data Relay Satellite System (TDRSS) communication platform. The current work at JPL in this area has focused on enhancing the technologies and transferring the control architecture to hardware and software environments which are more compatible with projected ground and space operational environments. At the local site, the operator updates the remote worksite model using stereo video and a model overlay/fitting algorithm which outputs the location and orientation of the object in free space. That information is relayed to the robot User Macro Interface (UMI) to enable programming of the robot control macros. This capability runs on a single Silicon Graphics Inc. machine. The operator can employ either manual teleoperation, shared control, or supervised autonomous control to manipulate the intended object. The remote site controller, called the Modular Telerobot Task Execution System (MOTES), runs in a multi-processor VME environment and performs the task sequencing, task execution, trajectory generation, closed loop force/torque control, task parameter monitoring, and reflex action. This paper describes the new STELER architecture implementation, and also documents the results of the recent autonomous docking task execution using the local site and MOTES.
Document ID
19950048799
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Zimmerman, Wayne
(Jet Propulsion Lab. California Inst. of Tech., Pasadena, CA, US, United States)
Backes, Paul
(Jet Propulsion Lab. California Inst. of Tech., Pasadena, CA, US, United States)
Steele, Robert
(Jet Propulsion Lab. California Inst. of Tech., Pasadena, CA, US, United States)
Long, Mark
(Jet Propulsion Lab. California Inst. of Tech., Pasadena, CA, US, United States)
Bon, Bruce
(Jet Propulsion Lab. California Inst. of Tech., Pasadena, CA, US, United States)
Beahan, John
(Jet Propulsion Lab. California Inst. of Tech., Pasadena, CA, US, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1993
Publication Information
Publisher: American Astronautical Society (Advances in the Astronautical Sciences, Vol. 81)
ISSN: 0065-3438
Subject Category
Man/System Technology And Life Support
Accession Number
95A80398
Distribution Limits
Public
Copyright
Other

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