Configuration space as a means for augmenting human performance in teleoperation tasks
| Autor: | V. Lumelsky, Igor Ivanisevic |
|---|---|
| Rok vydání: | 2000 |
| Předmět: |
Telerobotics
Computer science Interface (computing) General Medicine Motion control Computer Science Applications Human-Computer Interaction Task (computing) Control and Systems Engineering Teleoperation Configuration space Electrical and Electronic Engineering Robotic arm Software Simulation Information Systems |
| Zdroj: | IEEE Transactions on Systems, Man and Cybernetics, Part B (Cybernetics). 30:471-484 |
| ISSN: | 1083-4419 |
| DOI: | 10.1109/3477.846235 |
| Popis: | This paper considers an approach to operator-guided real time motion control of robot arm manipulators that's based on the use of configuration space (C-space). The goal is to improve operator performance in a complex environment with obstacles, In such tasks, traditional teleoperation techniques, which are all based on control in work space (W-space), suffer from human errors tied to deficiencies in human spatial reasoning. The C-space approach transforms the problem into one humans are much better equipped to handle-moving a point in a maze-and results in a significant improvement in performance: shorter path, less time to complete the task, and virtually no arm-obstacle collisions. Versions of the approach are described for two-dimensional (2-D) and three-dimensional (3-D) tasks, and tools are developed to efficiently interface the human and machine intelligence. Effectiveness of the C-space approach is demonstrated by a series of experiments, showing an improvement in performance on the order of magnitude in the 2-D case and a factor of two to four in the 3-D case, compared to usual work space control. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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