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The Jet Propulsion Laboratory shared control architecture and implementationA hardware and software environment for shared control of telerobot task execution has been implemented. Modes of task execution range from fully teleoperated to fully autonomous as well as shared where hand controller inputs from the human operator are mixed with autonomous system inputs in real time. The objective of the shared control environment is to aid the telerobot operator during task execution by merging real-time operator control from hand controllers with autonomous control to simplify task execution for the operator. The operator is the principal command source and can assign as much autonomy for a task as desired. The shared control hardware environment consists of two PUMA 560 robots, two 6-axis force reflecting hand controllers, Universal Motor Controllers for each of the robots and hand controllers, a SUN4 computer, and VME chassis containing 68020 processors and input/output boards. The operator interface for shared control, the User Macro Interface (UMI), is a menu driven interface to design a task and assign the levels of teleoperated and autonomous control. The operator also sets up the system monitor which checks safety limits during task execution. Cartesian-space degrees of freedom for teleoperated and/or autonomous control inputs are selected within UMI as well as the weightings for the teleoperation and autonmous inputs. These are then used during task execution to determine the mix of teleoperation and autonomous inputs. Some of the autonomous control primitives available to the user are Joint-Guarded-Move, Cartesian-Guarded-Move, Move-To-Touch, Pin-Insertion/Removal, Door/Crank-Turn, Bolt-Turn, and Slide. The operator can execute a task using pure teleoperation or mix control execution from the autonomous primitives with teleoperated inputs. Presently the shared control environment supports single arm task execution. Work is presently underway to provide the shared control environment for dual arm control. Teleoperation during shared control is only Cartesian space control and no force-reflection is provided. Force-reflecting teleoperation and joint space operator inputs are planned extensions to the environment.
Document ID
19940005472
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Backes, Paul G.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Hayati, Samad
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1990
Publication Information
Publication: NASA. Johnson Space Center, Space Station Evolution Conference: Abstracts for Technical Sessions
Subject Category
Mechanical Engineering
Accession Number
94N72227
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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