Title :
Telerobotic operation of conventional robot manipulators
Author :
Boissiere, P.T. ; Harrigan, R.W.
Author_Institution :
New Mexico Univ., Albuquerque, NM, USA
Abstract :
A telerobotic control concept and its implementation using a PUMA-560 robot manipulator are reported. The concept couples human supervisory commands with computer reasoning. The control system is responsive and accomplishes an operator´s commands while providing obstacle avoidance and controlled interactions with the environment where desired. This provides a system which not only assists the operator in accomplishing tasks but modifies inappropriate operator commands which can result in safety hazards and/or equipment damage
Keywords :
position control; robots; telecontrol; PUMA-560 robot manipulator; computer reasoning; controlled interactions; equipment damage; human supervisory commands; obstacle avoidance; position control; safety hazards; telecontrol; telerobotic control; Control systems; Educational robots; Feedback; Humans; Manipulators; Orbital robotics; Robot control; Robot kinematics; Robot sensing systems; Telerobotics;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12113
