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Proceedings Paper

Advanced operator interface design with preview/predictive displays for ground-controlled space telerobotic servicing
Author(s): Won Soo Kim; Paul S. Schenker; Antal K. Bejczy; Stephen Leake; Stanford Ollendorf
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Paper 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.

Paper Details

Date Published: 21 December 1993
PDF: 12 pages
Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164892
Show Author Affiliations
Won Soo Kim, Jet Propulsion Lab. (United States)
Paul S. Schenker, Jet Propulsion Lab. (United States)
Antal K. Bejczy, Jet Propulsion Lab. (United States)
Stephen Leake, NASA Goddard Space Flight Ctr. (United States)
Stanford Ollendorf, NASA Goddard Space Flight Ctr. (United States)

Published in SPIE Proceedings Vol. 2057:
Telemanipulator Technology and Space Telerobotics
Won Soo Kim, Editor(s)

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