Predictive motion display for acceleration based teleoperation

摘要

In general, either a position or a velocity command is utilized during teleoperation. However, when teleoperating a free-flying robot in space, it is difficult to ensure the commanded position or velocity because of the specific system dynamics. An acceleration command is much more appropriate. However, it is very difficult to handle the acceleration command for the operator. In this paper, a new predictive display technique named "predictive motion display" is introduced to overcome the problem. The experimental results show that the proposed method reduces both task completion time and collision frequency by 33% and 86%, respectively. In addition, the effectiveness is discussed based on a simple feedback control model