Ground Experiments towards Space Teleoperation with Time Delay

Hannaford, B. (1994) Ground Experiments towards Space Teleoperation with Time Delay. In: Manipulation, Automation, and Robotics in Space. AIAA, pp. 87-106.

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An important component of research into advanced telemanipulation systems is performance evaluation. Advances in computation, mechanization, and control must be calibrated in terms of measurable improvements in manipulation performance. Performance evaluation of telemanipulators is a difficult task which of necessity involves many test operators, training sessions, and well- defined evaluation tasks. Literature on many studies of this type performed over the past 20 years is surveyed in Hannaford, et al. (1989, 1991). In all teleoperation systems, some time delay will be present in the communication between master and slave sub-systems. Because of the large distances involved, this delay is especially prominent in contemplated applications in space. Early Studies such as Sheridan and Ferrell (1963), looked at the effects of time delay on the control of a remote manipulator without force feedback. A study by Ferrell (1966) found force feedback to be useful with time delay, but revealed degradation of performance and potential for unstable operation. More recently, studies have simulated time delay with digital memory buffers and studied its effect on teleoperation with force reflection in single axis (Hannaford and Anderson, 1988; Lawn and Hannaford, 1989), and multi-axion systems (Kim, et al., 1992). Since early teleoperators were first remotized electronically, reflection of force information to the operator was recognized as a key to higher performance remote manipulation. Many force reflecting teleoperation systems are implemented by sending a position or velocity signal from master to slave and a force signal from slave back to master. In this scheme, the communication delay appears twice in a larger system involving human operator, hand controller, communication link, slave robot, and environment. It has been widely observed that this delay can cause instability of the force reflecting control system.

Item Type: Book Section
Subjects: B Teleoperation > B Teleoperation (General)
Divisions: Department of Electrical Engineering
Depositing User: Margaret Thompson
Date Deposited: 07 Jul 2015 21:23
Last Modified: 08 Sep 2017 19:03

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