Graphical Robot Simulation within the Framework of an Intelligent TeleSensorProgramming System

Up to now robot task execution is limited to move the manipulator on the joint or cartesian level from one position into another one. We propose the so-called TeleSensorProgramming concept that uses sensory perception to bring local autonomy onto the manipulator level. This approach is applicable both in the real robot’s world and in the simulated one. Beside the graphical offline programming concept the range of application lies especially in the field of teleoperation with large time delays. The feasibility of graphically simulating the robot within its environment is extended by emulating different sensor functions like distance, force-torque and vision sensors to achieve a correct copy of the real system behaviour. These Simulation features are embedded into a task-oriented high-level robot programming approach. Sensor fusion aspects with respect to autonomous sensor controlled task execution are discussed as well as the interaction between the real and the simulated system.