Teleoperator equations of motion
Explore the source record for details and available documents.
Hung, J. C.↗
SEARCH · Search NASA
Results for “Teleoperation”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Role of teleoperators in space structures technology
A review is presented of extensive experimental work on the control of remote manipulators for handling, assembly, and maintenance work on large orbiting structures. Among the prime areas identified for further research and development are: new sensor system concepts to make sensors suitable for the highly demanding space environment, improved man/machine interface designs to provide a more efficient command/information flow between operator and remote manipulator, and new approaches to the design of interactive manual/computer controls within the framework of a supervisory control system.
Bejczy, A. K.↗
A system for intelligent teleoperation research
The Automation Technology Branch of NASA Langley Research Center is developing a research capability in the field of artificial intelligence, particularly as applicable in teleoperator/robotics development for remote space operations. As a testbed for experimentation in these areas, a system concept has been developed and is being implemented. This system termed DAISIE (Distributed Artificially Intelligent System for Interacting with the Environment), interfaces the key processes of perception, reasoning, and manipulation by linking hardware sensors and manipulators to a modular artificial intelligence (AI) software system in a hierarchical control structure. Verification experiments have been performed: one experiment used a blocksworld database and planner embedded in the DAISIE system to intelligently manipulate a simple physical environment; the other experiment implemented a joint-space collision avoidance algorithm. Continued system development is planned.
Orlando, N. E.↗
The Effect of Part-simulation of Weightlessness on Human Control of Bilateral Teleoperation: Neuromotor Considerations
The effect of weightlessness on the human operator's performance in force reflecting position control of remote manipulators was investigated. A gravity compensation system was developed to simulate the effect of weightlessness on the operator's arm. A universal force reflecting hand controller (FRHC) and task simulation software were employed. Two experiments were performed because of anticipated disturbances in neuromotor control specification on the human operator in an orbital control environment to investigate: (1) the effect of controller stiffness on the attainment of a learned terminal position in the three dimensional controller space, and (2) the effect of controller stiffness and damping on force tracking of the contour of a simulated three dimensional cube using the part simulation of weightless conditions. The results support the extension of neuromotor control models, which postulate a stiffness balance encoding of terminal position, to three dimensional motion of a multilink system, confirm the existence of a disturbance in human manual control performance under gravity compensated conditions, and suggest techniques for compensation of weightlessness induced performance decrement through appropriate specification of hand controller response characteristics. These techniques are based on the human control model.
Corker, K.↗
Review of Teleoperator Research
A predictor display to overcome time lag problems with remote control systems is discussed. The video picture is a (necessarily) time-delayed picture from the remote location, generated as a coherent frame (snapshot) so that all picture elements in a single scan are delayed the same. The computer-generated graphics is a line drawing of the present configuration of the manipulator arm, vehicle or other device. The latter is generated by using the same control signals which are sent to the remote manipulator (device) to drive a computer model of it. The computer model is drawn on the video display in exactly the same location as where it will actually be after a one-way time delay and where it will be seen to be on the video after one round-trip time delay. If one waits at least one round-trip delay without moving, both the graphics model and the video picture of the manipulator (device) are seen to coincide. The predictor technque proved to work well and was shown for time delays in the 1-3 second range to reduce completion times for a variety of manipulation tasks by 50-150 percent reliably.
Sheridan, T. B.↗
Force/torque display for space teleoperation control experiments and evaluation
Experiments were performed at the Johnson Space Center (JSC), Manipulator Development Facility using the full scale Shuttle Remote Manipulator System (SRMS) to evaluate the effect of visual presentation through perspective display of the orthogonal forces and torques sensed at the manipulator end effector. The experiments investigated the effect of the display information on the management of forces and torques generated during payload berthing and deployment, as well as simulated satellite module change-out operations. The evaluation also addressed (1) issues of display format, including: force/torque scaling, point of resolution, and display mixing with video generated imagery, and (20) task related variables of payload size, alternative sources of guidance information, and control mode. The results are presented of a first-pass informal anlaysis of the analog, strip chart-recorded data from these evaluation tests. The results provide a relative measure of improvement in force management through the use of such a display, as well as information regarding the impact of display variables and task demands on operator performance.
Corker, K.↗
An orbiting control station for free-flying teleoperators - Preliminary design methodology
This paper summarizes work being done to develop the preliminary design of a control station for the free-flying teleoperator/telerobot ROBIN. The four-step development process involves telerobot capability definition, mission analysis, requirements generation, and design solution. The ROBIN servomanipulator requirements are listed, and a telerobotic control station requirement tree is shown.
Clarke, M. M.↗
Hand trigger system for bi-lateral gripping control in teleoperation
A device for human operator control of a robotic gripper has been developed and preliminary evaluation has been performed. The JPL Force Reflecting Hand Trigger system features an instrumented index finger trigger with load cell detection of finger force, a servo-controlled, lead-screw-driven backdrive capability by which the trigger's position can be made to follow that of the remotely controlled gripper, and a novel feedback mechanism by which clamping force or some other signal can be fed back by a swiveling motion, also servo-controlled, of the trigger surface (force reflection). This system has undergone preliminary testing in which the amount of force reflection is varied and dynamic force-tracking response is observed.
Fiorini, Paolo↗
Calibrating a VPL DataGlove for teleoperating the Utah/MIT hand
A system able to control the Utah/MIT hand with the VPL DataGlove has been developed. To get the actual joint angles from the DataGlove sensor values, a least-squares fit is used to find the best-fit exponential curve for each sensor, and then the correlation between the sensors is reduced by the iterative correlation elimination procedure. The calibration depends both on the wearer and the particular DataGlove being used. The first-level calibration is simple and can be done under 15 min with experience. The second level is fixed and requires no adjustments. To control the hand, a mapping from the DataGlove angles to the hand angles is applied, making the hand fingertips follow the DataGlove fingertips. The hand can successfully implement various high-level tasks under the DataGlove wearer's control.
Hong, Jiawei↗
A sensory sampling model of the human operator of teleoperated devices
Explore the source record for details and available documents.
Corker, Kevin↗
An adaptive controller for enhancing operator performance during teleoperation
An adaptive controller is developed for adjusting robot arm parameters while manipulating payloads of unknown mass and inertia. The controller is tested experimentally in a master/slave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptation is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified.
Carignan, Craig R.↗
Variable force and visual feedback effects on teleoperator man/machine performance
An experimental study was conducted to determine the effects of various forms of visual and force feedback on human performance for several telemanipulation tasks. Experiments were conducted with varying frame rates and subtended visual angles, with and without force feedback.
Massimino, Michael J.↗
Teleoperator comfort and psychometric stability: Criteria for limiting master-controller forces of operation and feedback during telemanipulation
The following question is addressed: How much force should operators exert, or experience, when operating a telemanipulator master-controller for sustained periods without encountering significant fatigue and discomfort, and without loss of stability in psychometric perception of force. The need to minimize exertion demands to avoid fatigue is diametrically opposed by the need to present a wide range of force stimuli to enhance perception of applied or reflected forces. For 104 minutes subjects repetitiously performed a series of 15 s isometric pinch grasps; controlled at 5, 15, and 25 percent of their maximum voluntary strength. Cyclic pinch grasps were separated by rest intervals of 7.5 and 15 s. Upon completion of every 10 minute period, subjects interrupted grasping activities to gage the intensity of fatigue and discomfort in the hand and forearm using a cross-modal matching technique. A series of psychometric tests were then conducted to determine accuracy and stability in the subject's perception of force experienced. Results showed that onset of sensations of discomfort and fatigue were dependent upon the magnitude of grasp force, work/rest ratio, and progression of task. Declines in force magnitude estimation slopes, indicating a reduction in force perception sensitivity, occurred with increased grasp force when work/rest ratios were greater than 1.0. Specific recommendations for avoiding discomfort and shifts in force perception, by limiting pinch grasp force required for master-controller operation and range of force reflection or work/rest ratios, are provided.
Wiker, Steven F.↗
Results from teleoperated free-flying spacecraft simulations in the Martin Marietta space operations simulator lab
To augment the capabilities of the Space Transportation System, NASA has funded studies and developed programs aimed at developing reusable, remotely piloted spacecraft and satellite servicing systems capable of delivering, retrieving, and servicing payloads at altitudes and inclinations beyond the reach of the present Shuttle Orbiters. Since the mid 1970's, researchers at the Martin Marietta Astronautics Group Space Operations Simulation (SOS) Laboratory have been engaged in investigations of remotely piloted and supervised autonomous spacecraft operations. These investigations were based on high fidelity, real-time simulations and have covered a wide range of human factors issues related to controllability. Among these are: (1) mission conditions, including thruster plume impingements and signal time delays; (2) vehicle performance variables, including control authority, control harmony, minimum impulse, and cross coupling of accelerations; (3) maneuvering task requirements such as target distance and dynamics; (4) control parameters including various control modes and rate/displacement deadbands; and (5) display parameters involving camera placement and function, visual aids, and presentation of operational feedback from the spacecraft. This presentation includes a brief description of the capabilities of the SOS Lab to simulate real-time free-flyer operations using live video, advanced technology ground and on-orbit workstations, and sophisticated computer models of on-orbit spacecraft behavior. Sample results from human factors studies in the five categories cited above are provided.
Hartley, Craig S.↗
Performance capabilities of a JPL dual-arm advanced teleoperation system
The system comprises: (1) two PUMA 560 robot arms, each equipped with the latest JPL developed smart hands which contain 3-D force/moment and grasp force sensors; (2) two general purpose force reflecting hand controllers; (3) a NS32016 microprocessors based distributed computing system together with JPL developed universal motor controllers; (4) graphics display of sensor data; (5) capabilities for time delay experiments; and (6) automatic data recording capabilities. Several different types of control modes are implemented on this system using different feedback control techniques. Some of the control modes and the related feedback control techniques are described, and the achievable control performance for tracking position and force trajectories are reported. The interaction between position and force trajectory tracking is illustrated. The best performance is obtained by using a novel, task space error feedback technique.
Szakaly, Z. F.↗
Predictive Display For Teleoperation With Delay
Computer-graphical simulator helps operator control robotic manipulator when controlling and monitoring signals delayed in transmission. Displays phantom image of robot superimposed on delayed "real" monitoring image. Phantom responds to control signals immediately - motion predicts that of robot. After delay, real image follows motion of phantom. System includes high-fidelity, real-time computer-graphical display which gives depth, perspective, and lighting cues improving control.
Bejczy, Antal K.↗
Suppression of biodynamic interference in head-tracked teleoperation
Results are reported from an experimental simulation study examining improvements achievable in pointing and tracking precision using dynamic display shifting in helmet-mounted displays. The experiment was conducted in a 6-deg-of-freedom motion base simulator with an emulated helmet-mounted sight. It is shown that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination is considered to exhibit the best overall display dynamics by each of the subjects.
Lifshitz, S.↗
An 8-DOF dual-arm system for advanced teleoperation performance experiments
This paper describes the electro-mechanical and control features of an 8-DOF manipulator manufactured by AAI Corporation and installed at the Jet Propulsion Lab. (JPL) in a dual-arm setting. The 8-DOF arm incorporates a variety of features not found in other lab or industrial manipulators. Some of the unique features are: 8-DOF revolute configuration with no lateral offsets at joint axes; 1 to 5 payload to weight ratio with 20 kg (44 lb) payload at a 1.75 m (68.5 in.) reach; joint position measurement with dual relative encoders and potentiometer; infinite roll of joint 8 with electrical and fiber optic slip rings; internal fiber optic link of 'smart' end effectors; four-axis wrist; graphite epoxy links; high link and joint stiffness; use of an upgraded JPL Universal Motor Controller (UMC) capable of driving up to 16 joints. The 8-DOF arm is equipped with a 'smart' end effector which incorporates a 6-DOF forcemoment sensor at the end effector base and grasp force sensors at the base of the parallel jaws. The 8-DOF arm is interfaced to a 6 DOF force reflecting hand controller. The same system is duplicated for and installed at NASA-Langley.
Bejczy, Antal K.↗