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Proceedings Paper

PC/AT-based architecture for shared telerobotic control
Author(s): Dale E. Schinstock; Terry N. Faddis; Bill G. Barr
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Paper 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.

Paper Details

Date Published: 26 March 1993
PDF: 8 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142125
Show Author Affiliations
Dale E. Schinstock, Univ. of Kansas (United States)
Terry N. Faddis, Univ. of Kansas (United States)
Bill G. Barr, Univ. of Kansas (United States)


Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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