Function-based control sharing for robotic systems

A new function-based control sharing scheme for robotic systems has been developed based on the event-based planning and control theory. It provides a unified model to integrate a human operator control command with action planning and control of autonomous operation. As a result, the robotic systems can perform tasks which cannot be done by either human operator or autonomous planner/controller alone. This scheme lays down a foundation for planning and control of a general robotic system involving human operators, and provides a natural and efficient way to fuse the human intelligence with the machine intelligence. The scheme is implemented and tested on a PUMA 560 dual-arm system. The experimental results of obstacle avoidance, hybrid force/position control with a commanded force as well as dual-arm coordinated teleoperation are presented.

Authors

• Tzyh Jong Tarn
• Ning Xi 0001
• Chuanfan Guo
• Antal K. Bejczy

Keywords

• Robot control
• Control systems
• Robot kinematics
• Humans
• Intelligent robots
• Machine intelligence
• Control theory
• Fuses
• System testing
• Force control
• Robotic System
• Control Strategy
• Unintended Consequences
• Operation Mode
• Autonomic Nervous System
• Direction Of Motion
• Robotic Arm
• Computational Intelligence
• Human Operator
• Human Intelligence
• Autonomic Control
• Obstacle Avoidance
• Single Arm
• Robot Motion
• Manual Operation
• Robot Operating
• Autonomous Operation