Human supervisory control of robot systems

摘要

This paper reviews some what's and whys of "supervisory control", "telerobotics" and "telepresence" as applied to operations in space. Specific salient problems and developments in control are described, including: (1) computer-based planning; (2) command language; (3) geometric resolution; and (4) arm/end-effector dexterity and impedance. Key problems and developments in telesensory feedback are also described, including: (i) predictive display; (2) teleproprioception; (3) force reflection; and (4) teletouch. Finally, some "policy" problems of design/development by computer simulation vs. hardware design, and the problems of evaluation of prototype systems are mentioned. Efforts from the author's laboratory are cited as examples; no comprehensive literature review is intended.