Newsgroups: comp.robotics.research
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From: "Victor B. Naumov" <nau@iias.spb.su>
Subject: Russian Robotics 4/8: Supervisory Control
Message-ID: <MBOYER.95Jul5164540@pellan.ireq-robot.hydro.qc.ca>
Lines: 81
Sender: news@ireq.hydro.qc.ca (Netnews Admin)
Organization: St.-Petersburg Institute for Informatics and Automation, RAN
Date: Wed, 5 Jul 1995 20:45:40 GMT
Approved: mboyer@ireq-robot.hydro.qc.ca, crr@ireq-robot.hydro.qc.ca

                 ACADEMY OF SCIENCES OF RUSSIA
   ST.-PETERSBURG INSTITUTE FOR INFORMATICS AND AUTOMATION
                         ROBOTICS LAB.
                     of prof.F.M.Kulakov



                  ROBOT SUPERVISORY CONTROL
                  -------------------------

Fields of Application
---------------------
- space robots
- submarine robots
- robots for execution of work with nuclear radiation and in other
  extreme conditions
- industrial robots for work in nondeterminate environments
- medical micro-mechatronic systems for carry out surgical operations
- service robots

Description of idea
--------------------
This theory creates a very rational division of functions between
robot control and the operator interface.  It develops methods of
control, which provide the maximum possible autonomy of robot
function in a nondeterminate environment.  In addition, it develops
methods and means of communication between man and robot, which
provide maximum ease of use.  

In this method, the operator cooperates with the robot in an
interactive mode using a comprehensive set of control commands,
which are autonomously carried out by the robot.  These commands form
the basic elements of a problem-oriented control language.  The
operator plans robot actions by forming a command phrase.  Another 
command causes the robot to execute the command phrase.  The operator 
then supervises and controls the execution of this command-phrase,
intervening into the process in the case of any collisions.  In
particular, it is possible to use master-slave control.

For research in area of supervisory control a special experimental
robot with supervisory control was developed.  The robot system is a
6-DOF anthropomorphic robot similar to the PUMA robot.  It is used for
the verification of theoretical results.

For the expansion of control possibilities, the control cabinet of the
robot has been connected with an i486 PC.  The robot's sensor system
allows it to adapt to its environment.  It is composed of:  the wrist
6-D force/torque sensor, tactile sensors, and proximity infrared
sensors which are on the fingers of the gripper.  The tactical control
level of the robot, is handled through the language EVAL.  This is a
simplified version of the language VAL which does not handle
information from the proximity sensors, force sensors, and tactile
sensors.

There are commands which set both the position and velocity of the
robot hand.  In addition, the contact force/torque can be similarly
set, if the robot is carrying out manipulation's with grasped objects,
which have constraints.  The realization of commands, setting contact
forces is based on the developed generalization of hybrid
force/position robot control.  Use of these operators provides the
autonomous realization of the typical assembly elementary
manipulations, for instance, introducing a shaft into a hole,
tightening a nut, grinding etc.

The supervisor can also interrupt the autonomous execution commands.
For this task the 6-D joystick is used.  With the joystick it is
possible to break the autonomous mode of control and to begin
semiautomatic mode.  The operator applies force or/and torque to
handle of joystick, which sets line and angle velocities for the
gripper of the robot.

The experimental robot has been successfully used in nondeterminate
environments using supervisory control.  Some of the tasks it has 
completed include grinding an unknown complex surface and separating
assembly connectors.


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