A supervisory telerobotic control system using model-based vision feedback

Abstract

A hierarchical telerobotic control system for experiments with model-based vision feedback is described. The human operator issues commands to a high-level controller which plans actions to be carried out by the low-level controller. A feedforward model of the robot's motion is used by the vision system to look for visual enhancements on the robot in their anticipated positions. A middle-level module is planned which will alter low-level control gains to maintain performance within error bounds. Results of experiments with the vision system and studies of control strategies for vision feedback are discussed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>