Telerobot control mode performance assessmentWith the maturation of various developing robot control schemes, it is becoming extremely important that the technical community evaluate the performance of these various control technologies against an established baseline to determine which technology provides the most reliable robust, and safe on-orbit robot control. The Supervisory Telerobotics Laboratory (STELER) at JPL has developed a unique robot control capability which has been evaluated by the NASA technical community and found useful for augmenting both the operator interface and control of intended robotic systems on-board the Space Station. As part of the technology development and prototyping effort, the STELER team has been evaluating the performance of different control modes; namely, teleoperation under position, or rate, control, teleoperation with force reflection and shared control. Nine trained subjects were employed in the performance evaluation involving several high fidelity servicing tasks. Four types of operator performance data were collected; task completion time, average force, peak force, and number of operator successes and errors. This paper summarizes the results of this performance evaluation.
Document ID
19930066596
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Zimmerman, Wayne (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Backes, Paul (JPL Pasadena, CA, United States)
Chirikjian, Greg (California Inst. of Technology Pasadena, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Guidance and control 1992; Proceedings of the 15th Annual AAS Rocky Mountain Conference, Keystone, CO, Feb. 8-12, 1992 (A93-50576 21-18)