The assembly of structures, such as the International Space Station, in orbit requires precise alignment of telerobotically manipulated component modules. The alignment process is often made more difficult by inability to simultaneously observe and control the components to be positioned. Video observation of the process from a fixed vantage point is a less than optimal solution. A real-time, operator-in-the-loop virtual environment simulation was proposed which would allow the operator to observe the position of a simulated manipulator arm and payload from any vantage point. When the user views the simulation through a position-tracked, head-mounted display, he or she is "immersed" in the virtual world. The simulation, which involved the networking of four different computer systems and associated peripheral hardware including specialized robot arm controllers, was integrated and demonstrated. Possible further directions and human factors investigations are discussed.
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