A model-based predictive operator aid for telemanipulators with time delay

Author

Buzan, Forrest T. ; Sheridan, Thomas B.

Author_Institution

MIT, Cambridge, MA, USA

fYear

1989

fDate

14-17 Nov 1989

Firstpage

138

Abstract

A dynamic user aid was developed to help operators compensate for several-second time delays in telemanipulator systems. The approach includes state prediction, position feedback presentation, force feedback presentation, and slave impedance control. The aid helps the operator anticipate the delayed system response by providing predicted force and position feedback using dynamic models of both the manipulator and the environment. Three predictive force feedback techniques are also presented. Results of tests with a single-degree-of-freedom simulation showed operator performance to improve with the predictive aid. Tests also showed that `dual´ force reflection provides better performance than other techniques

Keywords

delays; feedback; force control; position control; robots; telecontrol equipment; force feedback; model-based predictive operator aid; position feedback; robots; slave impedance control; state prediction; telecontrol; telemanipulators; time delay; Delay effects; Delay systems; Force control; Force feedback; Impedance; Manipulator dynamics; Predictive models; Reflection; State feedback; Testing;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1989. Conference Proceedings., IEEE International Conference on

Conference_Location

Cambridge, MA

Type

conf

DOI

10.1109/ICSMC.1989.71268

Filename

71268