| In this dissertation, a human-machine cooperative control system for telerobotic work cells is presented. The system provides three different control modes for the telerobot: manual, supervisory, and autonomous control. Human operators intervene in machine control to deal with unexpected events which occur in autonomous processes. The nonlinear feedback PD control is discussed first as the basis of design for a robotic controller. A perceptive action reference is used as a reference frame for the high level planning and low level control. Using the perceptive action reference, an event based planner and controller is designed for the human-machine cooperative system. A Max-Plus algebra model is proposed to model both the off-line task planning and the real-time human teleoperation. Action synchronization is achieved in this system with or without human intervention. This is possible because, instead of using the traditional time frame for synchronization, we use the perceptive action reference. The main contribution of this research is the development of a mathematical model which incorporates human intervention into an autonomous control model. This increases the intelligence of the system and improves the system's safety, reliability, and fault-tolerance. A multi-view graphic simulation of a robotic work cell is developed as a predictor. display on the human side. It is also applied in human-machine cooperation to overcome the difficulty caused by transmission delay of data via the Internet. An assembly experiment is performed using a PUMA manipulator with human assistance to handle different kinds of unexpected events. Experimental results document the appropriateness of the proposed approaches. |
