<title>Telecommands for semiautonomous operations</title>

摘要

The problem addressed is controlling the relative position between the robot and an object using a sequence of operations specified at a high level. The goal is telecommands for robots to operate over a communication net with low bandwidth, a non-neglectable time delay and time jitter. Using an eye in hand range sensor, motion commands can be entered and executed relative to range map generated from measurements. The ratio of task relevant information/bandwidth is high for this sensor (it returns range in a plane between fingers in the gripper). Conventional images are only sent to the operator at `fax rate.' Some results obtained are: (1) Using a connection over Internet an operator in Lulea, Sweden (1,100 km away) was controlling a SCARA robot in Linkoping, Sweden. During the experiments several objects were successfully handled by the operator. (2) Automatically applying a sensor, say, perpendicular to a selected surface on the machine under diagnosis. The sensing may be for vibrations, shape, surface properties, etc. Observe that telecommands is not conventional telemanipulation using high bandwidth `live' images and force feedback. Instead high level commands (graphical input) relative to a 3D-model or existing measurements are used. The robot is controlled in a local feedback loop closed with full bandwidth using the range sensor mounted in the gripper.