Graphical programming: On-line robot simulation for telerobotic control

Conference · Fri Jan 01 04:00:00 EST 1993

OSTI ID:6606024

McDonald, M J; Palmquist, R D

Sandia has developed an advanced operational control system approach, caged Graphical Programming, to design and operate robotic waste cleanup and other hazardous duty robotic systems. The Graphical Programming approach produces robot systems that are faster to develop and use, safer in operation, and cheaper overall than altemative teleoperation or autonomous robot control systems. The Graphical Programming approach uses 3-D visualization and simulation software with intuitive operator interfaces for the programming and control of complex robotic systems. Graphical Programming Supervisor software modules allow an operator to command and simulate complex tasks in a graphic preview mode and, when acceptable, command the actual robots and monitor their motions with the graphic system. Graphical Progranuning Supervisors maintain registration with the real world and allow the robot to perform tasks that cannot be accurately represented with models alone by using a combination of model and sensor-based control. This paper describes the Graphical Programming approach, several example control systems that use Graphical Programming, and key features necessary for implementing successful Graphical Programming systems.

• Research Organization: Sandia National Labs., Albuquerque, NM (United States)
• Sponsoring Organization: DOE; USDOE, Washington, DC (United States)
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 6606024
• Report Number(s): SAND-93-0003C; CONF-930491--2; ON: DE93009796
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
COMPUTERIZED CONTROL SYSTEMS
COMPUTERIZED SIMULATION
CONTROL
CONTROL SYSTEMS
INTERFACES
ON-LINE CONTROL SYSTEMS
ON-LINE SYSTEMS
OPERATION
REAL TIME SYSTEMS
REMOTE CONTROL
ROBOTS
SIMULATION