Large Time Delay Teleoperation Contact A Job Away From Programming Techniques

The key technique of space robot teleoperation with large time delay is to maintain the security and efficiency of teleoperation system, on the condition of large time delay and limited bandwidth in the communication link between the operator control station on the earth and the robot workstation in space. This paper applies techniques of teleprogramming to address the problem, and an experimental teleprogramming system is developed. Several related techniques are discussed, including the supervision based on remote sensor-event feedback, the method to model tasks using discrete event dynamic system, the contact formation identification in uncertain environment.In this paper, the modeling and control method, using discrete event dynamic system for high level tasks planning, are studied, and a Petri Net model is proposed for the highly precise square peg-in-hole assembly tasks. This modeling and control method can not only improve the robots' ability for autonomous execution, but also accommodate the delays resulting from communication.A concept of FTV (Force Translation Vector) and a new method are presented to identify the contact formation in planar assembly tasks using the knowledge of the robot configuration and taking modeling and sensing uncertainties into account. The method is efficient and apt for real-time processing.In this paper, a simulation system in the client, which provides a virtual environment of the remote work site and remote robot, is developed. The system realizes the simulation of compliant motion to some extent, and allows operators to plan and rehearse teleoperation tasks off-line prior to execution. The stateflow display of remote sensor-event feedback is designed to monitor the execution process of the tasks. This teleprogramming system has been successfully tested in the highly precise square peg-in-hole assembly in which operators can use the simulation software in the client to control and monitor the PUMA562 located in the lab with artificial large time delay.