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  • 1
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    Studies to design and develop improved remote manipulator systems (1973)
    In:  CASI
    Details
    Publication Date: 2019-06-27
    Description: Remote manipulator control considered is based on several levels of automatic supervision which derives manipulator commands from an analysis of sensor states and task requirements. Principle sensors are manipulator joint position, tactile, and currents. The tactile sensor states can be displayed visually in perspective or replicated in the operator's control handle of perceived by the automatic supervisor. Studies are reported on control organization, operator performance and system performance measures. Unusual hardware and software details are described.
    Keywords: BIOTECHNOLOGY
    Type: NASA-CR-2238
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 2
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    Location and acquisition of objects in unpredictable locations (1975)
    In:  Other Sources
    Details
    Publication Date: 2019-06-27
    Description: A teleoperator system with a computer for manipulator control to combine the capabilities of both man and computer to accomplish a task is described. This system allows objects in unpredictable locations to be successfully located and acquired. By using a method of characterizing the work-space together with man's ability to plan a strategy and coarsely locate an object, the computer is provided with enough information to complete the tedious part of the task. In addition, the use of voice control is shown to be a useful component of the man/machine interface.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: JPL The 2nd Conf. on Remotely Manned Systems (RMS); p 11-13
    Format: text
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  • 3
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    Manipulation based on sensor-directed control: An integrated end effector and touch sensing system (1973)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: A hand/touch sensing system is described that, when mounted on a position-controlled manipulator, greatly expands the kinds of automated manipulation tasks that can be undertaken. Because of the variety of coordinate conversions, control equations, and completion criteria, control is necessarily dependent upon a small digital computer. The sensing system is designed both to be rugged and to sense the necessary touch and force information required to execute a wide range of manipulation tasks. The system consists of a six-axis wrist sensor, external touch sensors, and a pair of matrix jaw sensors. Details of the construction of the particular sensors, the integration of the end effector into the sensor system, and the control algorithms for using the sensor outputs to perform manipulation tasks automatically are discussed.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA-CR-143420 , Ann. Human Factors Soc. Conv; Oct 16, 1973 - Oct 18, 1973; Washington D. C.; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 4
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    Touch sensors and control. (1973)
    In:  Other Sources
    Details
    Publication Date: 2019-07-13
    Description: Description of the equipment employed and results obtained in experiments with tactile feedback and different levels of automatic control. In the experiments described tactile feedback was investigated by incorporating a touch sensing and touch display system into a teleoperator, while the levels of automatic control were investigated by incorporating supervisory control features in the teleoperator control system. In particular, a hand contact system which senses and reproduces to the operator the contact between the end-effector and the object being touched or manipulated is described, as well as a jaw contact system which senses and reproduces to the operator the shape and location of the object held in the remote jaws, and an arm control system consisting of a control station where the operator controls the motion of the arm by transmitting commands, a remote station that accepts the commands and uses them, and a communications link that limits information flow. In addition, an algorithmic language for remote manipulation is described, and the desired features that an automatic arm controller should possess are reviewed.
    Keywords: BIOTECHNOLOGY
    Type: National Conference on Remotely manned systems: Exploration and operation in space; Sep 13, 1972 - Sep 15, 1972; Pasadena, CA
    Format: text
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  • 5
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    Study to design and develop remote manipulator system (1974)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Modeling of human performance in remote manipulation tasks is reported by automated procedures using computers to analyze and count motions during a manipulation task. Performance is monitored by an on-line computer capable of measuring the joint angles of both master and slave and in some cases the trajectory and velocity of the hand itself. In this way the operator's strategies with different transmission delays, displays, tasks, and manipulators can be analyzed in detail for comparison. Some progress is described in obtaining a set of standard tasks and difficulty measures for evaluating manipulator performance.
    Keywords: BIOTECHNOLOGY
    Type: NASA-CR-137528
    Format: application/pdf
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  • 6
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    Study to design and develop remote manipulator system (1973)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Human performance measurement techniques for remote manipulation tasks and remote sensing techniques for manipulators are described for common manipulation tasks, performance is monitored by means of an on-line computer capable of measuring the joint angles of both master and slave arms as a function of time. The computer programs allow measurements of the operator's strategy and physical quantities such as task time and power consumed. The results are printed out after a test run to compare different experimental conditions. For tracking tasks, we describe a method of displaying errors in three dimensions and measuring the end-effector position in three dimensions.
    Keywords: BIOTECHNOLOGY
    Type: NASA-CR-138237 , QR-1
    Format: application/pdf
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