Software simulation of time delay in teleoperation

Research done in the Space Robotics Laboratory at the University of Atlanta at Huntsville on the effects of time delay on teleoperation is discussed. The laboratory is configured around a Puma 562 robot with 6 degrees of freedom. A custom designed joystick controller with two joysticks, each with three degrees of freedom, is used to control the robot. These joysticks are connected to the robot controller through an analog to digital interface. Joystick calibration, a computer program called Joystick, and the VAL 2 robot control language are discussed.