Virtual Tools for Interactive Telerobotics: Potential Fields and Terrace Following

Abstract Virtual tools, placed using an instrumented glove, were used to point and give directives to a telerobot in an interwoven graphic/video environment. A local minimum and dynamic collision were avoided using a terrace potential method for modifying trajectories by interactively specifying a safe way-point In a demonstration under development, an operator reaches into the scene of a hazardous tank mock-up and, with a cyberglove-controlled virtual pipe-cutting tool, directs a PUMA 560 robot to cut a piece of pipe “there” while avoiding “that” obstacle en route.

[1]  K. W. Lilly,et al.  Efficient Dynamic Simulation of Robotic Mechanisms , 1993 .

[2]  Thomas B. Sheridan,et al.  Monitoring Behavior and Supervisory Control , 1976 .

[3]  N. Burtnyk,et al.  Supervisory control of telerobots in unstructured environments , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[4]  Brian H. Wilcox,et al.  A Mars Rover for the 1990's , 1990, Autonomous Robot Vehicles.

[5]  A. Bejczy,et al.  Graphics displays for operator aid in telemanipulation , 1991, Conference Proceedings 1991 IEEE International Conference on Systems, Man, and Cybernetics.

[6]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1986 .

[7]  Guy Bruno,et al.  Testbed for tele-autonomous operation of multiarmed robotic servicers in space , 1991, Other Conferences.

[8]  P.G. Backes,et al.  Interactive command building and sequencing for supervised autonomy , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[9]  Samad Hayati,et al.  Design and implementation of a robot control system with traded and shared control capability , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[10]  I. Ince,et al.  Virtuality and reality: a video/graphics environment for teleoperation , 1991, Conference Proceedings 1991 IEEE International Conference on Systems, Man, and Cybernetics.

[11]  Richard A. Bolt,et al.  The human interface: Where people and computers meet , 1984 .