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

Volume

11

Issue

2

fYear

1991

Firstpage

3

Lastpage

8

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;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.67669

Filename

67669