Effects of time delay on telerobotic control of neutral buoyancy vehicles

Author

Lane, J. Corde ; Carignan, Craig R. ; Sullivan, Brook R. ; Akin, David L. ; Hunt, Teresa ; Cohen, Rob

Author_Institution

Space Syst. Lab., Maryland Univ., College Park, MD, USA

Volume

3

fYear

2002

fDate

2002

Firstpage

2874

Lastpage

2879

Abstract

The use of telerobots in remote locations allows humans to extend their capabilities to distant and hazardous environments. Although safer for the operator, this extension of capabilities comes at a price. Due to communication across great distances, experiencing time delays of up to several seconds is common. Any time delay in the human/robot interaction can significantly degrade the effectiveness of operator control. This paper will looks at two common instances of human-in-the-loop command of robots: command of vehicle motion and command of a manipulator to perform an assembly task. Results from three studies are summarized to show the degradation in performance caused by varying levels of time delay

Keywords

aerospace robotics; aerospace test facilities; assembling; delays; manipulators; mobile robots; telerobotics; apparent weightlessness; assembly; distant environments; hazardous environments; manipulator; neutral buoyancy vehicles; remote locations; telerobotic control; time delay; vehicle motion; Arm; Cameras; Degradation; Delay effects; Manipulators; Orbital robotics; Remotely operated vehicles; Robotic assembly; Space vehicles; Telerobotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013668

Filename

1013668