Distributed generic control for multiple types of telerobot

摘要

Describes a telerobotic system designed for the specific task of bomb disposal. The system is based around an existing remotely operated vehicle built for this purpose some years ago. The original vehicle has been enhanced in order to contend with a number of operational problems identified with its use. A sensor configuration and distributed control system are described which address these problems. The core of the control system is founded upon the principles of the subsumption architecture although the design is grounded in a wider concept of the development of generic user interfaces which may be used to control a number of different types of telerobot. This is a desirable feature for application domains in which a number of different types of robot are used for performing distinct functions, such as the nuclear industry and the military. This requirement presents a number of problems when considering the physical structure (sensors and actuators) and the control systems (functions and behaviors) of different telerobots. To this end, a system architecture, communication protocol and robot description language are described which address these issues.