PROJECT TITLE: Control Software for High Performance Bilateral Telerobots
TECHNICAL ABSTRACT (LIMIT 200 WORDS)
The design and implementation of telerobotic systems (such as spaced-based robots operated from the ground) with improved tactile and force feedback requires the development of new control system design concepts. Two key issues are the required stability margins and response characteristics of force-reflecting systems with time delay. Creare has previously shown that impedance-based control systems in combination with a passive communication link for telerobots guarantees stability in the presence of large, unstructured time delays. The innovation we propose is telerobot control system software that combines impedance-based telerobot control (for stability) with impedance shaping to achieve high performance telerobot control with guaranteed stability. This innovation will help compensate for large time delays without the need for move and wait strategies. The feasibility of the proposed concept will be established during Phase I by demonstrating the use of the proposed controls system architecture using two haptic displays. During Phase II, a full-scale, force-reflecting, telerobot control system will be designed, implemented, and tested.
POTENTIAL COMMERCIAL APPLICATIONS
The proposed control software will have immediate application for space-based robots controlled from the ground. In addition, it will enable telerobotic systems that can be used in macro- and microscopic manipulation. Examples include: vascular microsurgery, manipulation of individual cells, the interrogation of atomic surfaces, and the inspection and repair of micro-mechanical or electrical devices.
NAME AND ADDRESS OF PRINCIPAL INVESTIGATOR
Robert J. Kline-Schoder
Creare Incorporated
P.O. Box 71, Etna Road
Hanover , NH 03755-0071
NAME AND ADDRESS OF OFFEROR
Creare Incorporated
P.O. Box 71, Etna Road
Hanover , NH 03755-0071