A Prototype System for Ground Control Space Telerobotics

Abstract

A telerobotics system is described which provides supervised autonomous control capability for time-delayed ground-remote control applications. The system includes a local site operator interface for interactive task description and a remote site task execution system. Interactive stereo graphics overlay on video is provided at the local site to update the remote environmental model. The remote site system is capable of nominal task execution as well as monitoring and reflex action. Execution utilizes multiple control modules which execute based upon command parameterization.