Telerobot Control Interface Based on Constraints
Telerobot Control Interface Based on
Intelligent Automation, Inc.
1370 Piccard Drive, Suite 210
Rockville, MD 20850
Leonard S. Haynes
Fine manipulation via teleoperation is time consuming and unreliable because of
limited sensory feed-back. A preferred approach would be to use pre-stored, off-line
programs that would allow the robot to perform the tasks autonomously under the supervision
of an operator. This would result in the safety and flexibility of a teleoperated
system but with the efficiency of an autonomous robot. This project will employ the
firm's formal approach for specifying the manipulation tasks steps that are required
to develop software for adaptively controlling and monitoring robotic operations.
Fifteen primitive operations have been defined based on the reduction in the degrees
of freedom that occurs when components are assembled and manipulated. These primitives
appear to define elegantly and completely the fine manipulation required for simple
assembly tasks. Each of the primitives has an execution strategy and a set of recovery
algorithms in the event the operation fails. This project will expand the work already
done and demonstrate its applicability to teleoperation.
Potential Commercial Application:
Potential Commercial Applications: This system would be applicable to off-line robot
programming, would define complex manipulation tasks based on a small number of primitives,
and would allow an operator to understand and alter pre-coded, fine-manipulation