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Performance evaluation of a six-axis generalized force-reflecting teleoperatorWork in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering more than 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.
Document ID
19920029709
Acquisition Source
Legacy CDMS
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Hannaford, Blake
(Washington, University Seattle, United States)
Wood, Laurie
(Texas, University Austin, United States)
Mcaffee, Douglas A.
(Washington Univ. Seattle, WA, United States)
Zak, Haya
(JPL Pasadena, CA, United States)
Date Acquired
August 15, 2013
Publication Date
June 1, 1991
Publication Information
Publication: IEEE Transactions on Systems, Man, and Cybernetics
Volume: 21
ISSN: 0018-9472
Subject Category
Man/System Technology And Life Support
Accession Number
92A12333
Distribution Limits
Public
Copyright
Other

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