Autonomous, teleoperated, and shared control of robot systems [electronic resource]
This paper illustrates how different modes of operation such as bilateral teleoperation, autonomous control, and shared control can be described and implemented using combinations of modules in the SMART robot control architecture. Telerobotics modes are characterized by different ̀̀grids̀̀ of SMART...
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| Online Access: |
Online Access |
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| Corporate Author: | |
| Format: | Government Document Electronic eBook |
| Language: | English |
| Published: |
Washington, D.C. : Oak Ridge, Tenn. :
United States. Dept. of Energy ; distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy,
1994.
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| Subjects: |
| Summary: | This paper illustrates how different modes of operation such as bilateral teleoperation, autonomous control, and shared control can be described and implemented using combinations of modules in the SMART robot control architecture. Telerobotics modes are characterized by different ̀̀grids̀̀ of SMART icons, where each icon represents a portion of run-time code that implements a passive control law. By placing strict requirements on the modulès input-output behavior and using scattering theory to develop a passive sampling technique, a flexible, expandable telerobot architecture is achieved. An automatic code generation tool for generating SMART systems is also described. |
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| Item Description: | Published through the Information Bridge: DOE Scientific and Technical Information. 12/31/1994. "sand--94-3189c" " conf-960448--10" "DE96006410" IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996. Anderson, R.J. |
| Physical Description: | 8 p. : digital, PDF file. |