Advanced operator interface design with preview/predictive displays for ground-controlled space telerobotic servicing

Won Soo Kim; Paul S. Schenker; Antal K. Bejczy; Stephen Leake; Stanford Ollendorf

doi:10.1117/12.164892

21 December 1993 Advanced operator interface design with preview/predictive displays for ground-controlled space telerobotic servicing

Won Soo Kim, Paul S. Schenker, Antal K. Bejczy, Stephen Leake, Stanford Ollendorf

Author Affiliations +

Proceedings Volume 2057, Telemanipulator Technology and Space Telerobotics; (1993) https://doi.org/10.1117/12.164892
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

Recent advances in real-time 3-D graphics and graphical user interface (GUI) technologies enable development of advanced operator interfaces for telerobotic systems. In particular, we have employed preview/predictive displays with calibrated graphics overlay and X/Motif- based GUIs for efficient and reliable ground-controlled space telerobotic servicing under communication time delay. High fidelity preview/predictive displays have been achieved by an operator-interactive camera calibration and object localization technique that enables reliable matching of simulated 3-D graphics models with the remote site task environment. The developed graphical operator interface supporting telerobotic operations with high-fidelity preview/predictive displays have been successfully utilized in demonstrating a ground- simulated ORU (Orbital Replacement Unit) changeout remote servicing task by remotely operating a robot arm at NASA Goddard Space Flight Center from the Jet Propulsion Laboratory under a varying time delay of up to several seconds. The positioning alignment accuracy achieved by this technique with four camera views was about +/- 5 mm for a tool insertion in the servicing task.

Citation Download Citation

Won Soo Kim, Paul S. Schenker, Antal K. Bejczy, Stephen Leake, and Stanford Ollendorf "Advanced operator interface design with preview/predictive displays for ground-controlled space telerobotic servicing", Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); https://doi.org/10.1117/12.164892

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