A Universal Task Level Ground Control and Programming System for Space Robot Applications - The MARCO Concept and it's Application to the ETS VII Project
作者： B.M. Steinmetz , B. Brunner , G. Schreiber , K. Landzettel , G. Hirzinger
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摘要: The paper outlines the main features of DLR's ground control station for space robotics applications. It combines sensorbased task-level teleprogramming (as basis autonomy) with teleoperation and shared autonomy. hierarchical system structure is shown as well flexibility in programming controlling each kind application. teaching by showing approach key to a easy-to-use interface at different levels robot controlling. This has led modular taskdirected scheme, called Modular A&R Controller (MARCO), which provides very flexible architecture adapt application-specific requirements given scheme. To demonstrate power MARCO, we describe results GETEX experiment, been performed April '99 first freefloating on NASDA's ETS-VII satellite'.
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