Fusing human and machine skills for remote robotic operationsThe question of how computer assists can improve teleoperator trajectory tracking during both free and force-constrained motions is addressed. Computer graphics techniques which enable the human operator to both visualize and predict detailed 3D trajectories in real-time are reported. Man-machine interactive control procedures for better management of manipulator contact forces and positioning are also described. It is found that collectively, these novel advanced teleoperations techniques both enhance system performance and significantly reduce control problems long associated with teleoperations under time delay. Ongoing robotic simulations of the 1984 space shuttle Solar Maximum EVA Repair Mission are briefly described.
Document ID
19930040997
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Schenker, Paul S. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Kim, Won S. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Venema, Steven C. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Bejczy, Antal K. (JPL Pasadena, CA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1991
Publication Information
Publication: In: Sensor fusion III: 3-D perception and recognition; Proceedings of the Meeting, Boston, MA, Nov. 5-8, 1990 (A93-24993 08-63)
Publisher: Society of Photo-Optical Instrumentation Engineers