Title :
A unified teleoperated-autonomous dual-arm robotic system
Author :
Hayati, S. ; Lee, T. ; Tso, K. ; Backes, P. ; Lloyd, J.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
A description is given of a complete robot control facility built as part of a NASA telerobotics program to develop a state-of-the-art robot control environment for performing experiments in the repair and assembly of spacelike hardware to gain practical knowledge of such work and to improve the associated technology. The basic architecture of the manipulator control subsystem is presented. The multiarm Robot Control C Library, a key software component of the system, is described, along with its implementation on a Sun-4 computer. The system´s simulation capability is also described, and the teleoperation and shared control features are explained.<>
Keywords :
robots; space research; telecontrol; NASA telerobotics program; Sun-4 computer; multiarm Robot Control C Library; space hardware assembly; space hardware repair; state-of-the-art robot control environment; unified teleoperated-autonomous dual-arm robotic system; Computer architecture; Hardware; Manipulators; NASA; Orbital robotics; Performance gain; Robot control; Robotic assembly; Space technology; Telerobotics;
Journal_Title :
Control Systems, IEEE
