PC/AT-based architecture for shared telerobotic control

Dale E. Schinstock; Terry N. Faddis; Bill G. Barr

doi:10.1117/12.142125

26 March 1993 PC/AT-based architecture for shared telerobotic control

Dale E. Schinstock, Terry N. Faddis, Bill G. Barr

Proceedings Volume 1833, Telemanipulator Technology; (1993) https://doi.org/10.1117/12.142125
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States

Abstract

A telerobotic control system must include teleoperational, shared, and autonomous modes of control in order to provide a robot platform for incorporating the rapid advances that are occurring in telerobotics and associated technologies. These modes along with the ability to modify the control algorithms are especially beneficial for telerobotic control systems used for research purposes. The paper describes an application of the PC/AT platform to the control system of a telerobotic test cell. The paper provides a discussion of the suitability of the PC/AT as a platform for a telerobotic control system. The discussion is based on the many factors affecting the choice of a computer platform for a real time control system. The factors include I/O capabilities, simplicity, popularity, computational performance, and communication with external systems. The paper also includes a description of the actuation, measurement, and sensor hardware of both the master manipulator and the slave robot. It also includes a description of the PC-Bus interface cards. These cards were developed by the researchers in the KAT Laboratory, specifically for interfacing to the master manipulator and slave robot. Finally, a few different versions of the low level telerobotic control software are presented. This software incorporates shared control by supervisory systems and the human operator and traded control between supervisory systems and the human operator.

Citation Download Citation

Dale E. Schinstock, Terry N. Faddis, and Bill G. Barr "PC/AT-based architecture for shared telerobotic control", Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); https://doi.org/10.1117/12.142125

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