Fast Interactive Control of a Manipulator for the Severely Disabled

Abstract

A new type of interactive command language for cotrol of robot manipulators is presented, which allows the operator direct control over time derivatives of position of the robot arm. Features of this approach facilitate unification of operator commands with senor information to perform semiautomatic manipulation sequences. An implementation of such a system, called UNIACSYS, is described. Preliminary results of its usage are reported.