DocumentCode
3342528
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
fYear
1991
fDate
19-22 June 1991
Firstpage
225
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICAR.1991.240648
Filename
240648
Link To Document