Comparing Two Kinematics Methods for Telerobotic Control Applications

Abstract

Two inverse kinematics algorithms were implemented in a tele-operated robot system and evaluated with a user performance study. The kinematics algorithms were designed such that the point of resolution (POR) of the robot arm's wrist and the end-effector was controlled by joysticks, one each for rotation and translation. Operator performance was evaluated with “peg-in-the-hole” type tasks using both the wrist and end-effector POR modes. Wrist kinematics resulted in faster performance times, however, with longer average distances traveled while the opposite effect was observed with end-effector kinematics. Reversal errors were present equally in both modes, while the end-effector mode showed higher 1-axis use of the joysticks. Implications for remote robotic operation design and kinematics are discussed.

Get full access to this article

View all access options for this article.

References

De Jong

B. P.

Colgate

J. E.

Peshkin

M. A.

(2004, April 26-May 1). Improving teleoperation: reducing mental rotations and translations. Paper presented at the Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA.

Lamb

P. R.

(2002). Human performance in space telerobotic manipulation. Unpublished Master of Science, University of Canterbury.

Lumelsky

(1991). On Human Performance in Telerobotics. IEEE Transactions on Systems, Man, and Cybernetics, 21 (5), 971–982.

McLean

G. F.

Prescott

Podhorodeski

(1994). Teleoperated System Performance Evaluation. IEEE Transactions on Systems, Man, and Cybernetics, 24 (5), 796–803.

Schlegel

R. E.

Gilliland

Shehab

R. L.

Fry

T. L.

Akagi

Bray

T. M.

(2004). Remote Manipulator System Operator Training and Performance Metrics. Oklahoma: University of Oklahoma.

Sheridan

(1986, April). Human Supervisory Control of Robot Systems. Paper presented at the Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, CA.