Portal de Periódicos da CAPES

The Development of a Man-Machine Interface for Telemanipulator Positioning Tasks

1995; Elsevier BV; Volume: 28; Issue: 15 Linguagem: Inglês

10.1016/s1474-6670(17)45233-5

2589-3653

Paul Breedveld,

Robotic Mechanisms and Dynamics

Currently, the space manipulator ERA (European Robot Arm) is being developed in Europe. It will be used on the international space station Alpha. When the ERA is controlled in manual control, its movements are monitored with camera’s, like the end-effector camera, which is used for positioning the ’hand’ of the manipulator. At the Delft University of Technology in the Netherlands, research is done on the development of a manmachine interface for the ERA. Herewith, the movements of the manipulator are animated on a graphical workstation. The input device is a 6 degrees of freedom Spaceball controller, which is used to control the velocity of the end-effector. In this paper, the development of a novel graphical display is discussed, that improves the spatial observability of the end-effector camera picture. In this display, the spatial information is presented by means of intersections between 3-dimensional graphical objects. Also, a control method is described, that transforms the movements of the Spaceball into movements in the end-effector camera picture. Finally, some results of man-machine experiments with the display and the control method are given.