NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Workspace visualization and time-delay telerobotic operationsThe paper examines the performance of telerobotic tasks where the operator and robot are physically separated, and a comunication time delay of up to several seconds between them exists. This situation is applicable to space robotic servicing-assembly-maintenance operations on low earth or geosynchronous orbits with a ground-based command station. Attention is given to two developments which address advanced time-delay teleoperations for unstructured tasks: (1) the 'phantom robot', a real-time predictive graphics simulator developed to allow teleoperator eye-to-hand coordination or robot free-space kinematics under a time delay of several seconds; and (2) shared compliance control, a modified form of automatic electromechanical impedance control employed in parallel with manual position control to permit soft contact and grasp compliance with workpiece geometry under a time delay of several seconds.
Document ID
19910042212
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Schenker, P. S.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Bejczy, A. K.
(JPL Pasadena, CA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1990
Subject Category
Man/System Technology And Life Support
Report/Patent Number
AAS PAPER 90-005
Meeting Information
Meeting: Annual Rocky Mountain Guidance and Control Conference
Location: Keystone, CO
Country: United States
Start Date: February 3, 1990
End Date: February 7, 1990
Sponsors: AAS
Accession Number
91A26835
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available