20 February 1987 Telerobotics: Problems In Display, Control And Communication
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Proceedings Volume 0729, Space Station Automation II; (1987) https://doi.org/10.1117/12.964880
Event: Cambridge Symposium_Intelligent Robotics Systems, 1986, Cambridge, MA, United States
Abstract
An experimental telerobotics (TR) simulation is described suitable for studying human operator (H.O.) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. The Ames-Berkeley enhanced perspective display was utilized in conjunction with an experimental helmet mounted display system (HM0IFIt provided stereoscopic enhanced views. Two degree-of-freedom rotations of the head were measured with a Helmholtz coil instrument and these angles used to compute a directional conical window into a 3-D simulation. The vector elements within the window were then transformed by projective geometry calculations to an intermediate stereoscopic display, received by two video cameras and imaged onto the HID mini-display units (one-inch CRT video receivers) mounted on the helmet. An introduced communication delay was found to oroduce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a sampled data period of 0.2 seconds may relate to this robustness of H.0. control to delay. A number of control modes could be compared in this TR simulation, including displacement, rate iiracceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the H.O. can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments.
© (1987) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Lawrence Stark, Won-Soo Kim, Frank Tendick, Mitchell Tyler, Blake Hannaford, Wissam Barakat, Olaf Bergengruen, Louis Braddi, Joseph Eisenberg, Stephen Ellis, Steven Ethiar, Denise Flora, Sanjay Gidwani, Ronald Heglie, Nam Heui Kim, Bryan Martel, Mark Misplon, Eric Moore, Steven Moore, An Nguyen, Cecilia Nguyen, Scott Orlosky, Girish Patel, Michael Rizzi, Eric Shaffer, Mitch Sutter, Harris Wong, "Telerobotics: Problems In Display, Control And Communication", Proc. SPIE 0729, Space Station Automation II, (20 February 1987); doi: 10.1117/12.964880; https://doi.org/10.1117/12.964880
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