Configuration space as a means for augmenting human performance inteleoperation tasks

摘要

This paper considers an approach to operator-guided real timenmotion control of robot arm manipulators that's based on the use ofnconfiguration space (C-space). The goal is to improve operatornperformance in a complex environment with obstacles, In such tasks,ntraditional teleoperation techniques, which are all based on control innwork space (W-space), suffer from human errors tied to deficiencies innhuman spatial reasoning. The C-space approach transforms the problemninto one humans are much better equipped to handle-moving a point in anmaze-and results in a significant improvement in performance: shorternpath, less time to complete the task, and virtually no arm-obstaclencollisions. Versions of the approach are described for two-dimensionaln(2-D) and three-dimensional (3-D) tasks, and tools are developed tonefficiently interface the human and machine intelligence. Effectivenessnof the C-space approach is demonstrated by a series of experiments,nshowing an improvement in performance on the order of magnitude in then2-D case and a factor of two to four in the 3-D case, compared to usualnwork space control