Model Based Teleoperation to Eliminate Feedback Delay

开发的远程编程系统 美国国家科学基金会目前的拨款，提供了 执行操作任务的能力 在远程、延时的环境中， as undersea海底and in space空间. 的 远程编程系统提供了一种 之间的符号通信链路 虚拟现实主站和远程 机器人奴隶 这一努力将继续下去， 研究远程编程，以完成 系统通过包括：自动合成 夹具;模型获取;提供 紧固件和工具的使用;反应性 从动运动和任务输入。 这项研究正在进行， 与图书馆联合 自动化和分析系统 国家研究中心 在法国， 专注于更高层次的任务输入 到系统. 我们还将与 伍兹霍尔海洋学研究所和与 IFREMER准备进行海上试验 system.//

The teleprogramming system, developed under the current grant from the NSF, provides the capability of performing manipulative tasks in remote, time-delayed, environments, such as undersea and in space. The teleprogramming system provides for a symbolic communications link between a virtual reality master station and a remote slave robot. This effort continues the research on teleprogramming, to complete the system by including: automatic synthetic fixturing; model acquisition; providing for the use of fasteners and tools; reactive slave motions and task input. This research is being conducted in conjunction with the Laboratoire d'Automatique et d'Analyse des Systemes of the Centre National de la Recherche Scientifique of France; in France the concentration is on higher-level task input to the system. We will also work with the Woods Hole Oceanographic Institute and with IFREMER to prepare for a sea test of the system.//