DocumentCode :
2501952
Title :
The phantom robot: predictive displays for teleoperation with time delay
Author :
Bejczy, Antal K. ; Kim, Won S. ; Venema, Steven C.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
fYear :
1990
fDate :
13-18 May 1990
Firstpage :
546
Abstract :
An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot´s motion will follow the phantom robot´s motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhanced the human operator´s telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks
Keywords :
engineering graphics; position control; robots; telecontrol; user interfaces; camera calibration; graphics; motion control; phantom robot; predictive displays; stereoscopic displays; telemanipulation; teleoperation; time delay; Cameras; Communication system control; Delay effects; Displays; Graphics; Imaging phantoms; Monitoring; Robot motion; Robot vision systems; Teleoperators;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
Type :
conf
DOI :
10.1109/ROBOT.1990.126037
Filename :
126037
Link To Document :
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