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Proceedings Paper

Interacting with uncertainty
Author(s): Craig Sayers; Richard P. Paul; Max Mintz
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Paper Abstract

This paper considers issues related to the design of a system which can aid the operator in their interaction with the uncertain real world. This takes several complimentary approaches. The first is to reduce discrepancies between the master station's initial, imprecise, model of the slave site and the real remote world. This may be achieved by utilizing information received from the slave manipulator's kinesthetic interaction with the environment. The second is to make the operator aware of uncertainty by using color clues in the graphical user interface to provide an indication of uncertainty--this should allow an operator to compromise between speed and accuracy. The final approach is to reduce uncertainty in the position of the master arm by actively guiding it along one, or more, degrees of freedom such that it conforms to pre-defined and task-dependent geometric primitives.

Paper Details

Date Published: 26 March 1993
PDF: 9 pages
Proc. SPIE 1833, Telemanipulator Technology, (26 March 1993); doi: 10.1117/12.142119
Show Author Affiliations
Craig Sayers, Univ. of Pennsylvania (United States)
Richard P. Paul, Univ. of Pennsylvania (United States)
Max Mintz, Univ. of Pennsylvania (United States)


Published in SPIE Proceedings Vol. 1833:
Telemanipulator Technology
Hari Das, Editor(s)

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