Publications Details
An alternative control structure for telerobotics
This paper discusses a new telerobotic control concept which couples human supervisory commands with computer reasoning. The control system is responsive and accomplishes an operator's commands while providing obstacle avoidance and stable controlled interactions with the environment in the presence of communication time delays. 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. Research and development of this concept is being carried out in the Telerobotics Research Laboratory at Sandia National Laboratories. 12 refs., 4 figs.