Supervisory Control of Remote Manipulation with Compensation for Moving Target

摘要

The aim of this project is to evaluate automatic compensation for moving targets in the supervisory control of remote manipulators. An experimental system was built which consists of a master/slave manipulator, a moving table for the moving object, and a computer controlling both the manipulator and the table. A software system was made which allows the master/slave operation with object motion compensation under computer control. The method of resolved motion rate control was adopted for the manipulator control. The computation time in this way proved practical and permitted a system sampling interval of 0.05 s. Experiments were carried out with human operators performing manipulation tasks in the master/slave operation under computer control. Their performance was compared in three situations: no object motion, compensation for the object motion, and no compensation. The comparison of the compensation and no compensation situations showed that the compensation reduced the operation time by 26 - 41% in the peg moving task and increased the accuracy by two and a half times in rectangle tracing. In valve turning, however, a significant improvement was not observed. Thus, it can be concluded that the compensation for target motion can improve the performance of the human operator significantly in certain kinds of tasks. (Author)