AIDING THE OPERATOR IN THE MANUAL CONTROL OF A SPACE MANIPULATOR

被引：2
|
作者：
BOS, JFT [1 ]
STASSEN, HG [1 ]
VANLUNTEREN, A [1 ]
机构：
[1] DELFT UNIV TECHNOL,FAC MECH ENGN & MARINE TECHNOL,MAN MACHINE SYST GRP,2628 CD DELFT,NETHERLANDS
来源：
CONTROL ENGINEERING PRACTICE | 1995年 / 3卷 / 02期
关键词：
MAN-MACHINE SYSTEMS; TELECONTROL; ROBOTS; SPACE VEHICLES; HUMAN FACTORS; PREDICTIVE CONTROL;
D O I：
10.1016/0967-0661(94)00080-Z
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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 less energy consumption due to more calm control behaviour. The length of the prediction horizon should equal half of the stopping time.
引用
收藏
页码：223 / 230
页数：8
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