A discrete event approach to the command sequence replanning and control in a teleprogramming system

A command sequence replanning and control method, which enables the slave system to autonomously recover from error conditions, is proposed in a telerobot system. A task model described as a form of the controlled Petri net (CPN) is used as a prior knowledge for the slave system to carry out the given task successfully without the operator's aid even in unexpected error conditions. The CPN model incorporates the contact states and transitional motions between them that possibly exist in the task execution process. The motion command is automatically generated from the master system and transmitted to the slave whenever the contact state changes in the master model. Referring to the CPN model and the given motion commands, the slave system detects if the actual contact state is unexpected and then plans the recovery path from the unexpected state. The feasibility of the command sequence replanning and control algorithm is verified through an example to perform a simple part-mating task. © 2001 John Wiley & Sons, Inc.

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