Abstract
This paper describes LARTS/T, a Language Aided Robotic Teleoperator System/Teaching oriented version. This system incorporates a high level robot language with a master-slave manipulator system. A new teaching-operating method which uses LARTS/T called LDMSM (Language Directed Master-Slave Manipulation) is also described.
The LARTS/T allows the operator to use language instruction and the master-slave operation cooperatively while preserving the merits of each. The most important feature of the LDMSM is that the structural contents of a task is written with a high level robot language and given to the system before-hand. In this way the system can learn spatial points needed for the task (environment) from the task performed by the operator following the movements derived from the structure. As a result of this feature, operating the system serves to teach to the system in the robot language.
In this paper, experiments performed on a prototype system are described. Results of these experiments demonstrate that the LDMSM is a flexible and intuitive teaching method for a teleoperator. They also show that the LARTS/T has the ability to learn environment and execute the tasks in modified ways while maintaining the immediate usability of teleoperators.
