Thumbnail
Access Restriction
Subscribed

Author Backes, P.G. ♦ Long, M.K. ♦ Steele, R.D.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1993
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Telerobotics ♦ Control systems ♦ Space stations ♦ Orbital robotics ♦ Robot programming ♦ Space vehicles ♦ Communication system control ♦ Space technology ♦ Robot control ♦ Delay effects
Abstract A telerobot task execution system that has been developed for space station Freedom applications is described. The modular telerobot task execution system (MOTES) provides the remote site task execution capability in a local-remote telerobotic system. The design addresses the constraints of limited computational power available at the remote site control system while providing a large range of control capabilities. The system provides supervised autonomous control, shared control, and teleoperation for a redundant manipulator. The system is capable of nominal task execution as well as monitoring and reflex motion. A command interpreter similar to one used on robotic spacecraft is used to interpret commands received from the local site. Execution utilizes multiple control modules which execute based upon command parameterization. The system controls a seven degree-of-freedom manipulator.
Description Author affiliation: Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA (Backes, P.G.; Long, M.K.; Steele, R.D.)
ISBN 0818634502
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1993-05-02
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 719.00 kB
Page Count 7
Starting Page 524
Ending Page 530


Source: IEEE Xplore Digital Library