This paper introduces SMART: Sandia National Laboratory's Modular Architecture for Robotics and Teleoperation. SMART is designed to integrate the different slave devices (e.g., large hydraulic arms, mobile manipulators, gantry robots), sensors (e.g., ultra-sonic sensors,force sensors), and input devices, (e.g., track ball,force-reflecting master, autonomous trajectory generators) required for waste management and environmental restoration tasks. The modular architecture allows for rapid synthesis of complex telerobotic systems. This paper introduces some sample modules and illustrates how the modules can be connected to achieve telerobotic behaviors. Examples include autonomous control, impedance control, and enhanced bilateral teleoperation.
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