Supervised autonomous control, shared control, and teleoperation for space servicing

A local-remote telerobot system for single- and dual-arm supervised autonomy, shared control, and teleoperation has been demonstrated. The system is composed of two distinct parts: the local site, where the operator resides; and the remote site, where the robots reside. The system could be further separated into dual local sites communicating with a common remote site. This is valuable for potential space missions where a space based robotic system may be controlled either by a space based operator or by a ground based operator. Also, multiple modes of control integrated into a common system are valuable for satisfying different servicing scenarios. The remote site single arm control system is described, and its parameterization for different supervised autonomous control, shared control, and teleoperation tasks are given. Experimental results are also given for selected tasks. The tasks include compliant grasping, orbital replacement unit changeout, bolt seating and turning, electronics card removal and insertion, and door opening.

[1]  John Lloyd,et al.  Extending the RCCL programming environment to multiple robots and processors , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[2]  James A. Maples,et al.  Experiments in force control of robotic manipulators , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[3]  R. Paul.  Robot manipulators : mathematics, programming, and control : the computer control of robot manipulators , 1981 .

[4]  P.G. Backes.  Generalized compliant motion with sensor fusion , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[5]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .

[6]  Paul G. Backes.  Multi-sensor based impedance control for task execution , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[7]  Paul G. Backes.  Dual-arm supervisory and shared control space servicing task experiments , 1992 .

[8]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part III—Applications , 1985 .

[9]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part II—Implementation , 1985 .

[10]  Paul G. Backes.  Ground-remote control for space station telerobotics with time delay , 1992 .

[11]  Kam S. Tso,et al.  Autonomous single arm ORU changeout - strategies, control issues, and implementation , 1990, Robotics Auton. Syst..

[12]  Dale A. Lawrence,et al.  Impedance control stability properties in common implementations , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[13]  Dale Lawrence,et al.  Position-based impedance control - Achieving stability in practice , 1987 .

[14]  Paul Backes,et al.  Redundant arm control in a supervisory and shared control system , 1992 .

[15]  Kam S. Tso,et al.  UMI: an interactive supervisory and shared control system for telerobotics , 1990, Proceedings., IEEE International Conference on Robotics and Automation.