Autonomous, teleoperated, and shared control of robot systems

Conference · Sat Dec 31 00:00:00 EST 1994

OSTI ID:211587

Anderson, R J

This paper illustrates how different modes of operation such as bilateral teleoperation, autonomous control, and shared control can be described and implemented using combinations of modules in the SMART robot control architecture. Telerobotics modes are characterized by different ``grids`` of SMART icons, where each icon represents a portion of run-time code that implements a passive control law. By placing strict requirements on the module`s input-output behavior and using scattering theory to develop a passive sampling technique, a flexible, expandable telerobot architecture is achieved. An automatic code generation tool for generating SMART systems is also described.

• Research Organization: Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
• Sponsoring Organization: USDOE, Washington, DC (United States)
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 211587
• Report Number(s): SAND-94-3189C; CONF-960448-10; ON: DE96006410
• Resource Relation: Conference: IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996; Other Information: PBD: [1994]
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES
ROBOTS
REMOTE CONTROL
DEGREES OF FREEDOM
NAVIGATION
TELEMETRY
TASK SCHEDULING
AUTOMATION
COMPUTERIZED CONTROL SYSTEMS
POSITIONING