A report describes experiments on remote manual control of a robotic manipulator. The experiments were conducted to evaluate quantitatively the relative effectiveness of several control modes: various combinations of position control, rate control, remote compliance, and feedback from force and torque sensors. Tasks similar to those done manually by astronauts in extravehicular activity to repair the Solar Max satellite in 1984 were selected for the experiment. The tasks evaluated thus far are removing a thermal blanket, unbolting an electrical panel, and handling bundles of electrical wires and electrical connectors on a simulated Solar Max satellite by means of a remotely controlled robot in a teleoperation laboratory. In one experiment, seven different control modes were applied to the removal and reinsertion of screws on the electrical panel. Data on forces, torques, positions of the robotic end effector, and times needed for the completion of subtasks were recorded and used to analyze and quantify the performances of the human operators. The data from the experiments showed that in comparison with rate control modes, position-control modes yielded better overall teleoperation performance and were preferred by operators. Position-error-based force reflection with compliance implemented at the manipulator site was found to be the best control mode However, the disadvantage of this mode is that the feel of the force- reflecting hand controller is sluggish, and force feedback is slightly delayed because of the limited frequency response of the force-reflection function.
More details can be found in:
Das, H., Zak, H., Kim, W. S., Bejczy, A. K., and Schenker, P. S., ROperator Performance with Alternative Manual Control Modes in Teleoperation,S Presence, Vol. 1, No. 2, Spring 1992, pp. 201-218.
Point of Contact:
Antal K. Bejczy
Mail Stop 198-219
Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena CA 91109
818-354-4568
bejczy@telerobotics.jpl.nasa.gov
Hari Das,
Mail Stop 198-219
Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena CA 91109
818-354-9174
hari@telerobotics.jpl.nasa.gov
Haya Zak,
Mail Stop 601-237
Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena CA 91109
818-354-8643
hzak@telerobotics.jpl.nasa.gov
Won Soo Kim,
Mail Stop 198-219
Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena CA 91109
818-354-5047
kim@telerobotics.jpl.nasa.gov
Paul Schenker
Mail Stop 125-224
Jet Propulsion Laboratory
4800 Oak Grove Drive
Pasadena, CA 91109
818-354-2681
schenker@jpl.nasa.gov
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