Future space servicing operations may involve manually controlled manipulation from a free-flying platform; direct control of such a free-flying telerobot will impose a large workload on the operator. In order to reduce the workload on the human operator, a supervisory control strategy is developed where the operator only controls the end effector, rather than specifying the motion of the entire vehicle-manipulator system. Two control modes are compared: independent, where the operator directly controls the entire system; and coordinated, which combines pseudoinverse and reaction-compensation techniques. Experimental results indicate that the supervisory mode was best for new tasks, where the operator was not fully trained.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Workload reduction via coordinated control during free-flying manipulation


    Additional title:

    Manuelle Steuerung eines Manipulators in der Schwerelosigkeit des Weltraumes


    Contributors:


    Publication date :

    1989


    Size :

    6 Seiten, 11 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English