Title :
Symbolic control in computer aided teleoperation: the SPARTE language and its basic principles
Author :
Gravez, Philippe ; Fournier, Raymond
Author_Institution :
CEA/DTA/UR, Fontenay-aux-Roses, France
Abstract :
SPARTE, a new language for computer aided teleoperation (CAT) has been developed at DTA/UR and is presently used with the TAO-2 advanced master-slave system. SPARTE deals with off-line task programming and focuses on combined manual, automatic and mixed control modes. Additionally, it takes into account the online part of the human operator relative to adjustment, monitoring and incident recovery. Other promising features are hybrid control specification, mechanisms for the management of external events and ´learning by touching´ capabilities.<>
Keywords :
high level languages; robot programming; telecontrol; DTA/UR; SPARTE language; TAO-2; computer aided teleoperation; master-slave system; off-line task programming; robot programming; symbolic control; Automatic control; Civil engineering; Control systems; Force control; Hazards; Humans; Master-slave; Remote monitoring; Solid modeling; Torque control;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240648
