Technical Reports (CIS)

Document Type

Technical Report

Date of this Version

July 1993


University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-93-68.


Modern robotic research has presented the opportunity for enhanced teleoperative systems. Teleprogramming has been developed for teleoperation in time-delayed environments, but can also lead to increased productivity in non-delayed teleoperation.

Powered tools are used to increase the abilities of the remote manipulator. However, tools add to the complexity of the system, both in terms of control and sensing. Teleprogramming can be used to simplify the operators interaction with the manipulator/tool system. Further, the adaptive sensing algorithm of the remote site system (using an instrumented compliant wrist for feedback) simplifies the sensory requirements of the system. Current remote-site implementation of a teleprogramming tool-usage strategy that simplifies tool use is described in this document.

The use of powered tools in teleoperation tasks is illustrated by two examples, one using an air-powered impact wrench, and the other using an electric winch. Both of these tools are implemented at our remote site workcell, consisting of a Puma 560 robot working on the task of removing the top of a large box.



Date Posted: 17 August 2007