The experimental design and the results of a study of a force and torque sensing and display (FTSD) system, developed at the Jet Propulsion Laboratory, are presented. The FTSD system was incorporated into the one-g version of the Space Shuttle Remote Manipulator System (RMS). The tests consisted of evaluating alternative graphics formats for presenting force and torque information at the RMS work station, and of testing the utility of the sensor and the display system as an aid to specific RMS tasks. The participating subjects were all trained RMS operators with experience on the one-g version of the system, three of them with previous experience using the Space Shuttle RMS on orbit. The results support the use of the FTSD system as an aid to RMS operations: the system was found to facilitate the control of forces when the RMS is under partially or wholly constrained conditions. The graphics format employed in the present version of the FTSD system was found to be superior to earlier formats.


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    Title :

    Display comparison for six-degree-of-freedom force/torque control


    Contributors:
    Baggen, A. (author) / Boronkay, A. R. (author) / Orr, L. S. (author)

    Publication date :

    1985-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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