Real time algorithms for robotic control of teleoperators

Abstract

The Department of Energy recently established a Center for Engineering Systems Advanced Research (CESAR) at the Oak Ridge National Laboratory. The Center's charter is to address long-range energy related research in intelligent control systems operating in unstructured environments. The purpose of this paper is to report recent progress toward the development of real-time algorithms, incorporating inverse dynamics, for robotic control of manipulators with backdrivable actuation designed for teleoperation. Parallel state-representation dynamics, concurrent algorithms, and algorithms for manipulators with centralized actuation are discussed. This activity is part of a larger effort with complementary tasks in robot strategy planning, sensor fusion, etc.