Ws. Kim et Ak. Bejczy, DEMONSTRATION OF A HIGH-FIDELITY PREDICTIVE PREVIEW DISPLAY TECHNIQUEFOR TELEROBOTIC SERVICING IN-SPACE, IEEE transactions on robotics and automation, 9(5), 1993, pp. 698-704
A highly effective predictive/preview display technique for teleroboti
c servicing in space under several seconds communication time delay ha
s been demonstrated on a large laboratory scale in May 1993, involving
the Jet Propulsion Laboratory as the simulated ground control station
and, 2500 miles away, the Goddard Space Flight Center as the simulate
d satellite servicing set-up. The technique is based on a high-fidelit
y calibration procedure that enables a high-fidelity overlay of 3-D gr
aphics robot arm and object models over given 2-D TV camera images of
robot arm and objects. To generate robot arm motions, the operator can
confidently interact in mal time with the graphics models of the robo
t arm and objects overlaid on an actual camera view of the remote work
site. The technique also enables the operator to generate high-fideli
ty synthetic TV camera views showing motion events that are bidden in
a given TV camera view or for which no TV camera views are available.
The positioning accuracy achieved by this technique for a zoomed-in ca
mera setting was about +/-5 mm, well within the allowable +/-12 mm err
or margin at the insertion of a 45 cm long tool in the servicing task.