An instrumented task board was developed at NASA Marshall Space Flight Center (MSFC). An overview of the task board design, and current development status is presented. The task board was originally developed to evaluate operator performance using the Protoflight Manipulator Arm (PFMA) at MSFC. The task board evaluates tasks for Orbital Replacement Unit (ORU), fluid connect and transfers, electrical connect/disconnect, bolt running, and other basic tasks. The instrumented task board measures the 3-D forces and torques placed on the board, determines the robot arm's 3-D position relative to the task board using IR optics, and provides the information in real-time. The PFMA joint input signals can also be measured from a breakout box to evaluate the sensitivity or response of the arm operation to control commands. The data processing system provides the capability for post processing of time-history graphics and plots of the PFMA positions, the operator's actions, and the PFMA servo reactions in addition to real-time force/torque data presentation. The instrumented task board's most promising use is developing benchmarks for NASA centers for comparison and evaluation of telerobotic performance.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Evaluation of telerobotic systems using an instrumented task board


    Contributors:


    Publication date :

    1991-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




    Development and Evaluation of a Predictive Algorithm for Telerobotic Task Complexity

    United States; National Aeronautics and Space Administration / United States; Air Force / University of Houston-Clear Lake | British Library Conference Proceedings | 1992


    Achievability for Telerobotic Systems

    Kress, R. L. / Draper, J. V. / Hamel, W. R. et al. | British Library Conference Proceedings | 2001


    Achievability for telerobotic systems

    Kress, Reid L. / Draper, John V. / Hamel, William R. | American Institute of Physics | 2001