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Real-time Teleprogramming of Robotic Workcells

We are developing a software system for teleoperation in unstructured hazardous environments such as space. Features of this robotic system involve tele-operation, tele-presence, tele-supervision and autonomous operation with a man-machine interface using ``tele-programming''. Channel bandwidth and communication delays between the operator and slave manipulator are limiting factors in basic teleoperation. The operator loses fidelity of his important senses: vision and touch. Teleprogramming addresses these by transmitting symbolic, error tolerant, command program segments to the remote site rather than joint level information in the form of signals. The operator interacts with a geometric graphical model of the remote site which provides immediate visual and kinesthetic feedback. Advantages of using teleprogramming concepts include: insensitivity to time delays, reduced operator fatigue, and multi-robot operation. The teleprogramming system will incorporate characteristics of telepresence and virtual reality.

D.D. Haule, A.S. Malowany



Thierry Baron
Mon Nov 13 10:43:02 EST 1995