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    HUMAN FACTORS EVALUATION OF OPERATOR INTERFACES FOR TELEOPERATION OF A DEXTEROUS MANIPULATOR

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    No. of downloads: 257

    Date
    2014
    Author
    Davis, Kevin Patrick
    Advisor
    Akin, David L
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    Abstract
    Ground teleoperation of a satellite servicing spacecraft is a challenging task for a human operator, especially when there is significant communications delay between the control station and spacecraft. On-orbit operations are further complicated by a communications time delay between the ground and spacecraft. Operator performance can be improved with the use of a graphical simulation of the robot. By displaying the robot's commanded position, graphical simulation can also mitigate some effects of time delay. This work implemented a visualization tool and commanded display to assist operation of a remote dexterous manipulator. A Fitts' Law experiment was designed to determine the effectiveness of the commanded display in reducing the impact of time delay. The experiment was conducted with a six degree of freedom manipulator over a range of time delays, from 0.0 to 6.0 seconds. The experimental results were analyzed to assess the reduction of task completion time and operator workload.
    URI
    http://hdl.handle.net/1903/15468
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    • Aerospace Engineering Theses and Dissertations
    • UMD Theses and Dissertations

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    DRUM is brought to you by the University of Maryland Libraries
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