Designing minimal space telerobotics systems for maximum performanceThe design of the remote site of a local-remote telerobot control system is described which addresses the constraints of limited computational power available at the remote site control system while providing a large range of control capabilities. The Modular Telerobot Task Execution System (MOTES) provides supervised autonomous control, shared control and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion. The MOTES system is minimized while providing a large capability by limiting its functionality to only that which is necessary at the remote site and by utilizing a unified multi-sensor based impedance control scheme. A command interpreter similar to one used on robotic spacecraft is used to interpret commands received from the local site. The system is written in Ada and runs in a VME environment on 68020 processors and initially controls a Robotics Research K1207 7 degree of freedom manipulator.
Document ID
19920050577
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Backes, Paul G. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Long, Mark K. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Steele, Robert D. (JPL Pasadena, CA, United States)