Human/machine sharing control for intelligent mechatronic systems

Summary form only given. Based on our newly developed event-based planning and nonlinear feedback control theory, a new action planning and control scheme for a telerobotic system is presented. It provides a unified model to integrate a human operator control command (supervisory command) with motion planning and control for automatic operation. As a result, supervisory command and autonomous motion planning and control are naturally combined together such that the autonomous motion plan can be adjusted and modified by a human operator during its execution. This scheme lays down a foundation for planning and control of a general mechatronic system involving human operators. The scheme is implemented and tested on a PUMA 560 dual-arm system. A Spaceball is used by the human operator as a command generator to input the supervisory command. The experimental results of both single arm teleoperation and dual-arm coordinated teleoperation are presented. Applications to time-delayed environment are discussed.