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[023] Citation: L. Stark, W.S. Kim, F. Tendick, B. Hannaford, S. Ellis, et al., 'Telerobotics; Display, Control, and Communication Problems,'
IEEE Journal of Robotics and Automation, vol. RA-3, pp. 67-74, 1987.
Abstract
An experimental telerobotics (TR) simulation is described suitable
for studying human operator (HO) performance. Simple manipulator
pick-and-place and tracking tasks allowed quantitative comparison of a
number of calligraphic display viewing conditions. An enhanced
perspective display was effective with a reference line from target to
base, with or without a complex three- dimensional grid framing the
view. This was true especially if geometrical display parameters such
as as azimuth (AZ) and elevation (EL) were arranged to be near
optimal. Quantitative comparisons were made possible utilizing control
performance measures such as root mean square error (rmse). There was
a distinct preference for controlling the manipulator in end-effector
Cartesian space for our primitive pick-and-place task, rather than
controlling joint angles and then, via direct kinematics, the
end-effector position. An introduced communication delay was found to
produce 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 s may relate to this robustness of HO control to delay.
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Updated: Tue Jul 15 23:54:48 2008
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