Investigations in telerobotics using cooperative supervisory modes of control

Abdelouahab Zaatri; Hendrik Van Brussel

doi:10.1117/12.295587

12 December 1997 Investigations in telerobotics using cooperative supervisory modes of control

Abdelouahab Zaatri, Hendrik Van Brussel

Proceedings Volume 3206, Telemanipulator and Telepresence Technologies IV; (1997) https://doi.org/10.1117/12.295587
Event: Intelligent Systems and Advanced Manufacturing, 1997, Pittsburgh, PA, United States

Abstract

This paper presents some experimental investigations in the field of robotics and telerobotics using a cooperative and complementary supervisory mode of control. The system allows a very wide range of applications provided by the design of an advanced graphic user interface (GUI) and the use of a CCD camera with a force sensor mounted together on the end effector of a Kuka361 industrial robot. The stereo-vision effect is obtained from two consecutive images separated by a known displacement of the CCD camera. Through the developed GUI, tasks can be carried out in 3D using a point-and-direct method. However, since the vision system is very sensitive with respect to the varying conditions of the real world, a cooperative error recovery scheme (CERS) is proposed in order to improve efficiently the robustness of the system. This scheme involves the supervisor and the computer in a partnership relation and establishes a dialogue between them for recovering errors, avoiding failures and saving time. For simulation purposes, a CAD model of the robot environment can be obtained from the 2D images and can be exploited under the CAD-based reaction force simulator software, called ROSI.

Citation Download Citation

Abdelouahab Zaatri and Hendrik Van Brussel "Investigations in telerobotics using cooperative supervisory modes of control", Proc. SPIE 3206, Telemanipulator and Telepresence Technologies IV, (12 December 1997); https://doi.org/10.1117/12.295587

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