398 research outputs found

    Virtual and Mixed Reality in Telerobotics: A Survey

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    An Adaptive Tool-Based Telerobot Control System

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    Modern telerobotics concepts seek to improve the work efficiency and quality of remote operations. The unstructured nature of typical remote operational environments makes autonomous operation of telerobotic systems difficult to achieve. Thus, human operators must always remain in the control loop for safety reasons. Remote operations involve tooling interactions with task environment. These interactions can be strong enough to promote unstable operation sometimes leading to system failures. Interestingly, manipulator/tooling dynamic interactions have not been studied in detail. This dissertation introduces a human-machine cooperative telerobotic (HMCTR) system architecture that has the ability to incorporate tooling interaction control and other computer assistance functions into the overall control system. A universal tooling interaction force prediction model has been created and implemented using grey system theory. Finally, a grey prediction force/position parallel fuzzy controller has been developed that compensates for the tooling interaction forces. Detailed experiments using a full-scale telerobotics testbed indicate: (i) the feasibility of the developed methodologies, and (ii) dramatic improvements in the stability of manipulator – based on band saw cutting operations. These results are foundational toward the further enhancement and development of telerobot

    Issues, concerns, and initial implementation results for space based telerobotic control

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    Telerobotic control for space based assembly and servicing tasks presents many problems in system design. Traditional force reflection teleoperation schemes are not well suited to this application, and the approaches to compliance control via computer algorithms have yet to see significant testing and comparison. These observations are discussed in detail, as well as the concerns they raise for imminent design and testing of space robotic systems. As an example of the detailed technical work yet to be done before such systems can be specified, a particular approach to providing manipulator compliance is examined experimentally and through modeling and analysis. This yields some initial insight into the limitations and design trade-offs for this class of manipulator control schemes. Implications of this investigation for space based telerobots are discussed in detail

    Aerospace medicine and biology: A continuing bibliography with indexes (supplement 341)

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    This bibliography lists 133 reports, articles and other documents introduced into the NASA Scientific and Technical Information System during September 1990. Subject coverage includes: aerospace medicine and psychology, life support systems and controlled environments, safety equipment, exobiology and extraterrestrial life, and flight crew behavior and performance

    Operating Interaction and Teleprogramming for Subsea Manipulation

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    The teleprogramming paradigm has been proposed as a means to efficiently perform teleoperation in the subsea environment via an acoustical link. In such a system the effects of both limited bandwidth channels and delayed communications are overcome by transmitting not Cartesian or joint level information but rather symbolic, error-tolerant, program instructions to the remote site. The operator interacts with a virtual reality of the remote site which provides immediate visual and kinesthetic feedback. The uncertainty in this model can be reduced based on information received from the slave manipulator\u27s tactile contact with the environment. It is suggested that the current state of the model be made available to the operator via a graphical display which shows not only the position of objects at the remote site but also, through the use of color clues, the uncertainty associated with those positions. The provision of uncertainty information is important since it allows the operator to compromise between speed and accuracy. An additional operator aid, which we term synthetic fixturing, is proposed. Synthetic fixtures provide the operator of the teleprogramming system with the teleoperation equivalent of the snap commands common in computer aided design programs. By guiding the position and/or orientation of the master manipulator toward specific points, lines or planes the system is able to increase both the speed and precision with which the operator can control the slave arm without requiring sophisticated hardware

    Advancing automation and robotics technology for the Space Station Freedom and for the US economy

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    The progress made by levels 1, 2, and 3 of the Office of Space Station in developing and applying advanced automation and robotics technology is described. Emphasis is placed upon the Space Station Freedom Program responses to specific recommendations made in the Advanced Technology Advisory Committee (ATAC) progress report 10, the flight telerobotic servicer, and the Advanced Development Program. Assessments are presented for these and other areas as they apply to the advancement of automation and robotics technology for the Space Station Freedom

    A prototype telerobotic platform for live transmission line maintenance: review of design and development.

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    This paper reports technical design of a novel experimental test facility, using haptic-enabled teleoperation of robotic manipulators, for live transmission line maintenance. The goal is to study and develop appropriate techniques in repair overhead power transmission lines by allowing linemen to wirelessly guide a remote manipulator, installed on a crane bucket, to execute dexterous maintenance tasks, such as twisting a tie wire around a cable. Challenges and solutions for developing such a system are outlined. The test facility consists of a PHANToM Desktop haptic device (master site), an industrial hydraulic manipulator (slave site) mounted atop a Stewart platform, and a wireless communication channel connecting the master and slave sites. The teleoperated system is tested under different force feedback schemes, while the base is excited and the communication channel is delayed and/or lossy to emulate realistic network behaviors. The force feedback schemes are: virtual fixture, augmentation force and augmented virtual fixture. Performance of each scheme is evaluated under three measures: task completion time, number of failed trials and displacement of the slave manipulator end-effector. The developed test rig has been shown to be successful in performing haptic-enabled teleoperation for live-line maintenance in a laboratory setting. The authors aim at establishing a benchmark test facility for objective evaluation of ideas and concepts in the teleoperation of live-line maintenance tasks

    Remote systems development

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    Potential space missions of the nineties and the next century require that we look at the broad category of remote systems as an important means to achieve cost-effective operations, exploration and colonization objectives. This paper addresses such missions, which can use remote systems technology as the basis for identifying required capabilities which must be provided. The relationship of the space-based tasks to similar tasks required for terrestrial applications is discussed. The development status of the required technology is assessed and major issues which must be addressed to meet future requirements are identified. This includes the proper mix of humans and machines, from pure teleoperation to full autonomy; the degree of worksite compatibility for a robotic system; and the required design parameters, such as degrees-of-freedom. Methods for resolution are discussed including analysis, graphical simulation and the use of laboratory test beds. Grumman experience in the application of these techniques to a variety of design issues are presented utilizing the Telerobotics Development Laboratory which includes a 17-DOF robot system, a variety of sensing elements, Deneb/IRIS graphics workstations and control stations. The use of task/worksite mockups, remote system development test beds and graphical analysis are discussed with examples of typical results such as estimates of task times, task feasibility and resulting recommendations for design changes. The relationship of this experience and lessons-learned to future development of remote systems is also discussed

    A new six-degree-of-freedom force-reflecting hand controller for space telerobotics

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    A new 6 degree of freedom universal Force Reflecting Hand Controller (FRHC) was designed for use as the man-machine interface in teleoperated and telerobotic flight systems. The features of this new design include highly intuitive operation, excellent kinesthetic feedback, high fidelity force/torque feedback, a kinematically simple structure, mechanically decoupled motion in all 6 DOF, good back-drivability, and zero backlash. In addition, the new design has a much larger work envelope, smaller stowage volume, greater stiffness and responsiveness, and better overlap of the human operator's range of motion than do previous designs. The utility and basic operation of a new, flight prototype FRHC called the Model X is briefly discussed. The design heritage, general design goals, and design implementation of this advanced new generation of FRHCs are presented, followed by a discussion of basic features and the results of initial testing
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