Control loops with human operators in space operations: part II: robotics operations and manual control experiment

Control loops with human operators in space operations: part II: robotics operations and manual control experiment

van Swieten, A.C.M.
Kampen, S.

National Aerospace Laboratory NLR

1985-09-05

In the study "Control loops with human operators" this volume is concerned with the robot arm case. Servicing of satellites and assembly of space structures require robotic operations. These operations are controlled from the ground by human operators. Five operational modes for the combined space- and ground segment are defined: - high level manipulation, - manual augmented, - preprogrammed, - single joint (emergency mode), - direct drive (emergency mode). Three of these modes require direct manual control. The main difficulty in the manual modes is the presence of time delay in the control loop and the way the operator can cope with it. In order to get an impression, human operator performance was assessed for the direct drive mode, in which the system provides the least support. A simple model for this mode showed essentially non-linear actuator behaviour, which made results from the literature not applicable. Therefore, some explorative experiments were done. These experiments showed, that the test subject (operator) could control the system, but a lot of overshooting responses were observed. Possibly, these overshoots can be eliminated by different instructions to the operator, who was instructed in the experiments to be as fast as possible.

human engineering
man machine systems
human performance
research facilities
manipulators
teleoperators
remote control
time lag
control sticks
manual control
space stations
display devices

http://resolver.tudelft.nl/uuid:e3132a3a-b074-4140-ad52-7652bccb184e

Nationaal Lucht- en Ruimtevaartlaboratorium

Campus only

NLR-TR 84116 U

Aerospace Engineering Reports

report

(c) 1985 National Aerospace Laboratory NLR