A methodology is described for developing a task complexity index based on combining the six basic motion primitives (three translation, three orientation) with force control and accuracy requirements. The result of this development is a set of complexity values that can be assigned to the high-level task primitives derived from a relatively shallow top-down mission analysis. These values are then averaged to arrive at total average mission complexities, such as for the mission of exchanging the Hubble Space Telescope (HST) battery modules. Application of this metric to a candidate set of NASA Flight Telerobotic Servicer evaluation tasks is discussed using the HST battery module mission for an in-depth example.
A task-based metric for telerobotic performance assessment
1987-07-01
Aufsatz (Konferenz)
Keine Angabe
Englisch
Task-Based Metric for Telerobotic Performance Assessment
NTIS | 1987
|Telerobotic controller development
NTRS | 1987
|NTRS | 1990
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