Configuration space as a means for augmenting human performance in teleoperation tasks
Configuration space as a means for augmenting human performance in teleoperation tasks
复制标题
配置空间作为增强远程操作任务中人类表现的手段
DOI：
10.1109/3477.846235
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发表时间：
2000
期刊：
影响因子：
--
通讯作者：
V. Lumelsky
中科院分区：
文献类型：
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作者：
I. Ivanisevic;V. Lumelsky
本文考虑了一种基于配置空间（C 空间）的操作员引导的机器人手臂操纵器实时运动控制方法。目标是提高操作员在有障碍的复杂环境中的表现。在此类任务中，传统的远程操作技术均基于工作空间（W 空间）控制，但由于人类空间推理的缺陷而导致人为错误。 C 空间方法将问题转化为人类有更好的装备来处理（移动迷宫中的一个点），并导致性能显着提高：更短的路径、更少的时间来完成任务，并且几乎没有手臂与障碍物碰撞。该方法的版本针对二维 (2-D) 和三维 (3-D) 任务进行了描述，并开发了工具来有效地连接人类和机器智能。一系列实验证明了 C 空间方法的有效性，与通常的工作空间控制相比，在 2D 情况下性能提高了一个数量级，在 3D 情况下性能提高了 2 到 4 倍。
This paper considers an approach to operator-guided real time motion control of robot arm manipulators that's based on the use of configuration space (C-space). The goal is to improve operator performance in a complex environment with obstacles, In such tasks, traditional teleoperation techniques, which are all based on control in work space (W-space), suffer from human errors tied to deficiencies in human spatial reasoning. The C-space approach transforms the problem into one humans are much better equipped to handle-moving a point in a maze-and results in a significant improvement in performance: shorter path, less time to complete the task, and virtually no arm-obstacle collisions. Versions of the approach are described for two-dimensional (2-D) and three-dimensional (3-D) tasks, and tools are developed to efficiently interface the human and machine intelligence. Effectiveness of the C-space approach is demonstrated by a series of experiments, showing an improvement in performance on the order of magnitude in the 2-D case and a factor of two to four in the 3-D case, compared to usual work space control.