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  • 1
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    Multiple robot systems in space (1987)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: Viewgraphs from a presentation on multiple robot systems in space are included. Topics covered include categories of robots in space; scenarios of robot applications in space; some characteristics of robots in space; and some interesting problems and issues.
    Keywords: MECHANICAL ENGINEERING
    Type: Purdue Univ. and Univ. of Southern California, Report of Workshop on Coordinated Multiple Robot Manipulators: Planning, Control, and Applications; 19 p
    Format: text
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  • 2
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    Fusing human and machine skills for remote robotic operations (1991)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: The question of how computer assists can improve teleoperator trajectory tracking during both free and force-constrained motions is addressed. Computer graphics techniques which enable the human operator to both visualize and predict detailed 3D trajectories in real-time are reported. Man-machine interactive control procedures for better management of manipulator contact forces and positioning are also described. It is found that collectively, these novel advanced teleoperations techniques both enhance system performance and significantly reduce control problems long associated with teleoperations under time delay. Ongoing robotic simulations of the 1984 space shuttle Solar Maximum EVA Repair Mission are briefly described.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: In: Sensor fusion III: 3-D perception and recognition; Proceedings of the Meeting, Boston, MA, Nov. 5-8, 1990 (A93-24993 08-63); p. 202-223.
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  • 3
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    Force-reflection and shared compliant control in operating telemanipulators with time delay (1992)
    In:  Other Sources
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    Publication Date: 2011-08-24
    Description: The performance of an advanced telemanipulation system in the presence of a wide range of time delays between a master control station and a slave robot is quantified. The contemplated applications include multiple satellite links to LEO, geosynchronous operation, spacecraft local area networks, and general-purpose computer-based short-distance designs. The results of high-precision peg-in-hole tasks performed by six test operators indicate that task performance decreased linearly with introduced time delays for both kinesthetic force feedback (KFF) and shared compliant control (SCC). The rate of this decrease was substantially improved with SCC compared to KFF. Task performance at delays above 1 s was not possible using KFF. SCC enabled task performance for such delays, which are realistic values for ground-controlled remote manipulation of telerobots in space.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: IEEE Transactions on Robotics and Automation (ISSN 1042-296X); 8; 2, Ap
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  • 4
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    The phantom robot - Predictive displays for teleoperation with time delay (1990)
    In:  Other Sources
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    Publication Date: 2011-08-19
    Description: An enhanced teleoperation technique for time-delayed bilateral teleoperator control is discussed. The control technique selected for time delay is based on the use of a high-fidelity graphics phantom robot that is being controlled in real time (without time delay) against the static task image. Thus, the motion of the phantom robot image on the monitor predicts the motion of the real robot. The real robot's motion will follow the phantom robot's motion on the monitor with the communication time delay implied in the task. Real-time high-fidelity graphics simulation of a PUMA arm is generated and overlaid on the actual camera view of the arm. A simple camera calibration technique is used for calibrated graphics overlay. A preliminary experiment is performed with the predictive display by using a very simple tapping task. The results with this simple task indicate that predictive display enhances the human operator's telemanipulation task performance significantly during free motion when there is a long time delay. It appears, however, that either two-view or stereoscopic predictive displays are necessary for general three-dimensional tasks.
    Keywords: CYBERNETICS
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  • 5
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    Computational Virtual Reality (VR) as a human-computer interface in the operation of telerobotic systems (1995)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: This presentation focuses on the application of computer graphics or 'virtual reality' (VR) techniques as a human-computer interface tool in the operation of telerobotic systems. VR techniques offer very valuable task realization aids for planning, previewing and predicting robotic actions, operator training, and for visual perception of non-visible events like contact forces in robotic tasks. The utility of computer graphics in telerobotic operation can be significantly enhanced by high-fidelity calibration of virtual reality images to actual TV camera images. This calibration will even permit the creation of artificial (synthetic) views of task scenes for which no TV camera views are available.
    Keywords: Man/System Technology and Life Support
    Type: ; 39-44
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  • 6
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    Space robotics in Japan (1994)
    In:  CASI
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    Publication Date: 2013-08-31
    Description: Japan has been one of the most successful countries in the world in the realm of terrestrial robot applications. The panel found that Japan has in place a broad base of robotics research and development, ranging from components to working systems for manufacturing, construction, and human service industries. From this base, Japan looks to the use of robotics in space applications and has funded work in space robotics since the mid-1980's. The Japanese are focusing on a clear image of what they hope to achieve through three objectives for the 1990's: developing long-reach manipulation for tending experiments on Space Station Freedom, capturing satellites using a free-flying manipulator, and surveying part of the moon with a mobile robot. This focus and a sound robotics infrastructure is enabling the young Japanese space program to develop relevant systems for extraterrestrial robotics applications.
    Keywords: MECHANICAL ENGINEERING
    Type: Loyola Coll., JTEC(WTEC Report and Program Summary; p 133-137
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  • 7
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    Advanced teleoperation: Technology innovations and applications (1994)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: The capability to remotely, robotically perform space assembly, inspection, servicing, and science functions would rapidly expand our presence in space, and the cost efficiency of being there. There is considerable interest in developing 'telerobotic' technologies, which also have comparably important terrestrial applications to health care, underwater salvage, nuclear waste remediation and other. Such tasks, both space and terrestrial, require both a robot and operator interface that is highly flexible and adaptive, i.e., capable of efficiently working in changing and often casually structured environments. One systems approach to this requirement is to augment traditional teleoperation with computer assists -- advanced teleoperation. We have spent a number of years pursuing this approach, and highlight some key technology developments and their potential commercial impact. This paper is an illustrative summary rather than self-contained presentation; for completeness, we include representative technical references to our work which will allow the reader to follow up items of particular interest.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA, Washington, Technology 2003: The Fourth National Technology Transfer Conference and Exposition, Volume 2; p 288-292
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  • 8
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    Graphics simulation and training aids for advanced teleoperation (1993)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations.
    Keywords: COMPUTER PROGRAMMING AND SOFTWARE
    Type: NASA. Lyndon B. Johnson Space Center, The Sixth Annual Workshop on Space Operations Applications and Research (SOAR 1992); p 182-189
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  • 9
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    Multiple sensor smart robot hand with force control (1987)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: A smart robot hand developed at JPL for the Protoflight Manipulator Arm (PFMA) is described. The development of this smart hand was based on an integrated design and subsystem architecture by considering mechanism, electronics, sensing, control, display, and operator interface in an integrated design approach. The mechanical details of this smart hand and the overall subsystem are described elsewhere. The sensing and electronics components of the JPL/PFMA smart hand are summarized and it is described in some detail in control capabilities.
    Keywords: MAN/SYSTEM TECHNOLOGY AND LIFE SUPPORT
    Type: NASA, Goddard Space Flight Center, Proceedings of 1987 Goddard Conference on Space Applications of Artificial Intelligence (AI) and Robotics; 20 p
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  • 10
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    An 8-DOF dual-arm system for advanced teleoperation performance experiments (1992)
    In:  CASI
    Details
    Publication Date: 2013-08-31
    Description: This paper describes the electro-mechanical and control features of an 8-DOF manipulator manufactured by AAI Corporation and installed at the Jet Propulsion Lab. (JPL) in a dual-arm setting. The 8-DOF arm incorporates a variety of features not found in other lab or industrial manipulators. Some of the unique features are: 8-DOF revolute configuration with no lateral offsets at joint axes; 1 to 5 payload to weight ratio with 20 kg (44 lb) payload at a 1.75 m (68.5 in.) reach; joint position measurement with dual relative encoders and potentiometer; infinite roll of joint 8 with electrical and fiber optic slip rings; internal fiber optic link of 'smart' end effectors; four-axis wrist; graphite epoxy links; high link and joint stiffness; use of an upgraded JPL Universal Motor Controller (UMC) capable of driving up to 16 joints. The 8-DOF arm is equipped with a 'smart' end effector which incorporates a 6-DOF forcemoment sensor at the end effector base and grasp force sensors at the base of the parallel jaws. The 8-DOF arm is interfaced to a 6 DOF force reflecting hand controller. The same system is duplicated for and installed at NASA-Langley.
    Keywords: CYBERNETICS
    Type: NASA. Lyndon B. Johnson Space Center, Fifth Annual Workshop on Space Operations Applications and Research (SOAR 1991), Volume 1; p 282-293
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