This paper discusses a new telerobotic control concept and its implementation using a PUMA-560 robot manipulator. The control concept couples human supervisory commands with computer reasoning. The control system is responsive and accomplishes an operator's commands while providing obstacle avoidance and controlled interactions with the environment where desired. This provides a system which not only assists the operator in accomplishing tasks but modifies inappropriate operator commands which can result in safety hazards and/or equipment damage. 15 refs., 6 figs. (ERA citation 13:022266)


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    Title :

    Telerobotic Operation of Conventional Robot Manipulators


    Contributors:

    Publication date :

    1988


    Size :

    9 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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