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.


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    Title :

    Aiding the Operator in the Manual Control of a Space Manipulator


    Contributors:

    Publication date :

    1992


    Size :

    10 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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