Title :
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
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;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Conference_Location :
Washington, DC
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1013668
