NASA NTRS · 19890000717
A university teaching simulation facility
Abstract
An experimental telerobotics (TR) simulation is described suitable for studying human operator (HO) performance. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. A number of control modes could be compared in this TR simulation, including displacement, rate, and acceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the HO can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments.
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Stark, Lawrence, Kim, Won-Soo, Tendick, Frank, Tyler, Mitchell, Hannaford, Blake, Barakat, Wissam, Bergengruen, Olaf, Braddi, Louis, Eisenberg, Joseph, Ellis, Stephen. 1987-01-01. A university teaching simulation facility. https://ntrs.nasa.gov/citations/19890000717
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