Telerobotics: Display, control, and communication problems
Telerobotics: Display, control, and communication problems
复制标题
远程机器人：显示、控制和通信问题
DOI：
10.1109/jra.1987.1087069
复制
发表时间：
1987
期刊：
影响因子：
--
通讯作者：
Steven van Dyke
中科院分区：
文献类型：
--
作者：
L. Stark;W. Kim;F. Tendick;B. Hannaford;S. Ellis;Mark Denome;Mary Duffy;Tim Hayes;Ted Jordan;M. Lawton;Tim Mills;Robert Peterson;Kathleen Sanders;M. Tyler;Steven van Dyke
描述了一种适合于研究人类操作者（HO）性能的实验遥控机器人（TR）仿真。简单的机械手拾取和跟踪任务允许对许多书法显示观看条件进行定量比较。增强的透视显示是有效的，从目标到基地的参考线，有或没有一个复杂的三维网格框架的观点。这是真的，特别是如果几何显示参数，如方位角（AZ）和仰角（EL）被安排得接近最佳。定量比较利用控制性能措施，如均方根误差（rmse）。我们更倾向于在末端执行器笛卡尔空间中控制机械手来完成原始的拾取任务，而不是控制关节角度，然后通过直接运动学，控制末端执行器的位置。发现引入通信延迟会导致性能下降。在很大程度上，这种困难可以通过预览控制信息来弥补。正常人体运动的神经控制包含0.2秒的采样数据周期，这可能与HO控制对延迟的鲁棒性有关。
An experimental telerobotics (TR) simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. An enhanced perspective display was effective with a reference line from target to base, with or without a complex three-dimensional grid framing the view. This was true especially if geometrical display parameters such as azimuth (AZ) and elevation (EL) were arranged to be near optimal. Quantitative comparisons were made possible utilizing control performance measures such as root mean square error (rmse). There was a distinct preference for controlling the manipulator in end-effector Cartesian space for our primitive pick-and-place task, rather than controlling joint angles and then, via direct kinematics, the end-effector position. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a sampled data period of 0.2 s may relate to this robustness of HO control to delay.