Abstract
In general, either a position or a velocity command is utilized during manual teleoperation. However, when teleoperating a free-flying robot in space, it is difficult to ensure the commanded position or velocity because of the specific system dynamics. An acceleration command is much more appropriate. However, it is very difficult to handle the acceleration command for the operator. In this paper, a new predictive display technique named“Predictive Motion Display, PMD”is introduced to overcome the problem. The experimental results show that the proposed method decreases task completion time and enhances safety. In addition, the effectiveness is discussed based on a simple feedback control model.
