Task-level testing of the JPL-OMV smart end effector
Task-level testing of the JPL-OMV smart end effector
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JPL-OMV 智能末端执行器的任务级测试
DOI：
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发表时间：
1987
期刊：
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通讯作者：
B. Hannaford
中科院分区：
文献类型：
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作者：
B. Hannaford
JPL先前开发的智能末端执行器已经在超过21小时的实验性遥操作中进行了测试。末端执行器提供了本地控制夹持器夹紧力和6自由度，手腕安装力扭矩传感器。解析力和扭矩显示给测试对象，并评估这些信息对模拟卫星维修任务性能的影响。有经验的受试者完成的任务与较低水平的远程操纵系统（RMS）的力量比中间和幼稚的科目，但力的水平显然是不相关的存在或不存在的显示器。这种负面的发现是由于在机械手控制系统中缺乏合适的控制模式。
An intelligent end effector previously developed at JPL has been tested in over 21 hours of experimental teleoperation. The end effector provides local control of gripper clamping force and a 6-degree-of-freedom, wrist mounted force torque sensor. Resolved forces and torques were displayed to the test subjects, and the effect of this information on their performance of simulated satellite servicing tasks was assessed. The experienced subjects accomplished the tasks with lower levels of Remote Manipulator System (RMS) forces than intermediate and naive subjects, but the force levels were apparently uncorrelated with the presence or absence of the display. This negative finding was attributed to the lack of a suitable control mode in the manipulator control system.