TORCS: A Teleoperated Robot Control System for the Self Mobile Space Manipulator

Abstract

This document describes the Teleoperated Robot Control System (TORCS) developed to control the Self Mobile Space Manipulator (SM) robot which is being developed in the Vision and Autonomous Systems Center. This robot is a semi-autonomous free-walking system being developed for space applications. TORCS provides a r;emote operator with comprehensive control of the robot on a number of different levels ranging from traditional teleoperation to completely autonomous walking. The heart of the TORCS system is an interactive, real-time X window based display tool which supports the controls for the robot and displays information on robot position and status. TORCS supports several well-integrated devices for teleoperation including a joystick, a six degree of freedom polhemus, and an isomorphic master controller. The operator can also perform teleoperation by specifying robot joint angles with the workstation mouse. Autonomous features include the ability to take single or multiple steps independently of operator intervention and to plan routes from one location to another. At the highest level, the operator need only specify a destination and TORCS will handle the rest. Provisions are included for the operator to oversee autonomous operations and to interrupt any operation in progress. The TORCS display includes a three-dimensional view of the robot during operation as well as close-up views of the robot gripper and readouts of exact robot status.