Supervisory control algorithms for telerobotic space structure assembly

A method for applying a task primitive supervisory control capability to a structural assembly teleoperator is presented and compared with manual control modes. The task of structural assembly is often repetitive. Several of the basic steps in an assembly can be completed by the computer faster with more accuracy and repeatability, lowering the workload on operator and increasing productivity. These results are demonstrated by example using the Beam Assembly Teleoperator. The primary application of the Beam Assembly Teleoperator is the assembly of tetrahedral structures constructed of six beams and four nodes. The beam manipulation and joint assembly portions of the assembly are augmented by the task primitive supervisory control algorithm, Triad. Manual and supervisory modes are compared by repeated joint assembly and by full structure assembly. Use of Triad proved to be significantly faster in repeated joint assembly, yielding times for a n'ive subject using Traid equal or better than an experienced operator under manual control. For full EASE structural assembly, Triad produced an estimated full assembly time 20% faster than the previously established manual time, despite increased times for the portions of assembly not under Triad control. The times for the portions assembly under Triad control were decreased 43% from the corresponding manual times. Thesis Supervisor: Prof. David L. Akin Title: Rockwell Assistant Professor of Aeronautics and Astronautics