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oai:drum.lib.umd.edu:1903/154682016-03-29T03:20:34Zcom_1903_2206com_1903_1654com_1903_2col_1903_2737col_1903_3

Akin, David L Davis, Kevin Patrick Digital Repository at the University of Maryland University of Maryland (College Park, Md.) Aerospace Engineering 2014-06-26T05:39:14Z 2014-06-26T05:39:14Z 2014 http://hdl.handle.net/1903/15468 Ground teleoperation of a satellite servicing spacecraft is a challenging task for a human operator, especially when there is significant communications delay between the control station and spacecraft. On-orbit operations are further complicated by a communications time delay between the ground and spacecraft. Operator performance can be improved with the use of a graphical simulation of the robot. By displaying the robot's commanded position, graphical simulation can also mitigate some effects of time delay. This work implemented a visualization tool and commanded display to assist operation of a remote dexterous manipulator. A Fitts' Law experiment was designed to determine the effectiveness of the commanded display in reducing the impact of time delay. The experiment was conducted with a six degree of freedom manipulator over a range of time delays, from 0.0 to 6.0 seconds. The experimental results were analyzed to assess the reduction of task completion time and operator workload. en HUMAN FACTORS EVALUATION OF OPERATOR INTERFACES FOR TELEOPERATION OF A DEXTEROUS MANIPULATOR Thesis Aerospace engineering Robotics Display Interface Manipulator Robot Teleoperation Time Delay open.access