Efficient control of a robotic system for time-delayed environments

Addresses the problem of teleoperation in the presence of feedback delays. Delay occurs with Earth-based teleoperation in space and with surface-based teleoperation of untethered submersibles when acoustic communication links are involved. The delay in obtaining position and force feedback from remote slave arms makes direct teleoperation impossible. This paper proposes a new control methodology for time-delayed remote manipulation, teleprogramming, based on a novel combination of computer graphics, virtual reality, and manipulator programming. The teleprogramming methodology allows for continuous and efficient control of remote workcells in the presence of significant feedback delays. An overview of the methodology for a single workcell is presented and experimental results using a prototype laboratory system are reported.>