AThis domeu nr 2:-, bqeen appsoved l U11.`7 pub lea; aLcd sale; its distrlbution is uniimited. SUMAMRYAND CONCLUSIONS 1. INTRODUCTIONSeveral research groups across the country are Several concepts of modular robotic systems have been interested in the development of modular robotics systems. presented and developed over the past several years. For One issue pertaining to modular robotic systems is the practical operation, the system will need to be configured for integration of modules into a fully functional robot system. a particular application or task from a suite of available Two criteria for modules integration not previously modules. This integration requires the use of different investigated are the reliability and accuracy of the system. criteria on which to base the module selection. One of these This paper presents the results of the development of a criteria is the accuracy of the robotic system. Another framework for a "criterion" embodying these two modular criterion is the reliability of the system. In several robot characteristics.applications, both of these criteria are the over-riding Using a probabilistic representation of manipulator characteristics, including microelectronics assembly [11], kinematics and a reliability block diagram model of the space applications [31 and nuclear reactor maintenance [101. manipulator system, a Reliability Performance Index (RPI) This paper presents a framework for the formulation of a representing the probability of no hardware or sofiware reliability index, quantifying the statistical characteristics of failure and the manipulator achieving a specified position and modular robot system reliability and accuracy. orientation is developed. The RPI is tested with a case stud)y consisting of a three degree-of-freedom planar manipulator Nomenclature and Notation. The notation used in this paper assembled from a choice of six joint modules of varying follows standard statistical practice with the meanings of reliability and precision and a choice of six link module various terms defined as they are used. combinations of varying lengths and machining tolerances. A straight-line, square trajectory is specified and the RPI is 2. RELIABILITY PERFORMANCE INDEX FORMULA TION calculated for each combination of joint modules and links, a For a robotic system, failure can be defined as the total of 1296 different combinations. An Analysis of manipulator not reaching a commanded position and Variance (ANOVA) is performed on the results using the orientation (denoted together as the "pose" of the robot) different joint locations and link options as factors and the within a certain error bound. There are two basic causes for different joint modules and link options as factor levels. The this failure: variation in the kinematic parameters of the different factors are tested for significance and the Tukey robotic system, and/or a failure in the hardware or software of Studentized Range Test is performed to determin the system causing the robot not to achieve the commanded signif...
A control concept referred to as object-resolved teleoperation is introduced in this paper in which motion or force is imparted to a remote object in order to achieve a desired action by the object. The object might be a hand-held tool or an airplane and the desired interaction might be control of its spatial position or interaction with the environment. The human interface to the master is a hand-held proxy for the object. At the remote site, the object motion or force commands are resolved into the appropriate commands for the actuation system. The potential advantages of ORT are: 1improvement in human-machine interaction, the consequence of the operator's cognitive task and command response being identical to those he would perform if he were manipulating the object, 2-the opportunity to share control between the operator and an intelligent controller at the remote site in such ways as to make best use of the capabilities of each. In this paper, application to grasp and manipulation is discussed.
A concept referred to as object-resolved telerobotics (ORT) is introduced in this paper in which the human interface to the master is a hand-held proxy for the object to be manipulated. Twist or wrench application to the master by the operator becomes a twist or wrench command to the object. The advantages of ORT are: 1-projected improvement in operator performance resulting from direct command of the object, 2-reduced amount of information that must be transmitted to and from the remote site and 3-opportunity to apply novel forms of shared control and kinesthetic feedback and to use simpler force reflecting masters. The concept has broad application in human supervision of any semi-autonomous system. In this paper, its use is demonstrated in producing cross-axis kinesthetic feedback to an astronaut or ground controller to accomplish spacecraft (s/c) rendezvous, a task that normally is performed with only visual feedback. In cross-axis kinesthetic feedback, the s/c attitude and lateral misalignment are kinesthetically sensed by the operator as a reduction in the programmed velocity in the nominal approach direction. The influence which misalignment has on the programmed velocity is increased as the closing distance is decreased to safely "funnel" the s/c into docking position. The master required to accomplish this has mixed unilateral/bilateral functionality that is demonstrated using a laboratory prototype in conjunction with a computer simulation of s/c rendezvous.
The sections in this article are Teleoperator Background Robot and Teleoperator Control Architectures The Future of Telerobotics
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