When an operator has to control a space manipulator manually he is faced with several difficulties. Three problems were investigated: Lack of direct vision, up to 6 degrees-of-freedom (DOF) to be controlled, and slow and complex dynamics. The results showed that reference lines enhance the 3D perception; further automation of the insert task led to a more efficient task execution; the display of the stopping configuration can lead to a faster and safer task execution. The display of the predicted trajectory led to less energy consumption due to a more calm control behavior. The length of the prediction horizon should equal half of the stopping time.
Aiding the Operator in the Manual Control of a Space Manipulator
1992
10 pages
Report
Keine Angabe
Englisch
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