The Russian segment of the international space station will be equipped with a 10 m long anthropomorphic space manipulator with six degrees of freedom. The robot is called the European robot arm, or ERA. Its hand, or end-effector, contains a camera which will be used for fine positioning of the end-effector, in order to grasp an object. At the Delft University of Technology, a human-machine interface for manual control of the ERA is being developed. The control device is a Spaceball controller, which is used to control the spatial end-effector velocity. This article describes four control methods that transform the Spacoball movements into movements in the end-effector camera picture. The control methods are compared by means of human-machine experiments. The results are also useful in many other areas of spatial manipulation, like undersea robots. robots in the nuclear industry, and minimally invasive surgery.


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    Title :

    Comparison of manual control methods for space manipulator positioning tasks


    Additional title:

    Vergleich manueller Steuerungsverfahren für einen Roboterarm in der Raumstation


    Contributors:

    Published in:

    Control Engineering Practice ; 6 , 12 ; 1447-1457


    Publication date :

    1998


    Size :

    11 Seiten, 15 Bilder, 2 Tabellen, 16 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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