Accession Number : ADA289268

Title :   Telepresent Spacecraft Docking with Object-Based Bilateral Control (OBBC).

Descriptive Note : Master's thesis,

Corporate Author : AIR FORCE INST OF TECH WRIGHT-PATTERSON AFB OH

Personal Author(s) : Woznick, Paul

PDF Url : ADA289268

Report Date : DEC 1994

Pagination or Media Count : 125

Abstract : The concept of object-based control is extended to the field of teleoperation, specifically to accomplish the task of spacecraft docking via a bilateral manual controller. An object-based controller with bilateral feedback controls the motion of the grasped object, not the trajectory of the manipulator. For this reason it can be designed with feedback that is intricately linked with the task kinematics. The benefits derived from anthropomorphicity and force feedback are possible without kinematically/geometrically similar master-slave systems, complex calibration and joint mapping schemes, or expensive, high degree-of-freedom force reflection. Object-based control is ideal for low-level telerobotic interfaces. A hand controller and a spacecraft docking simulation are designed and constructed to demonstrate object-based bilateral control. The dominant task objective in spacecraft docking is the approach to a target vehicle along a single axis of motion. Several methods of bilateral feedback linked with this dominant objective are proposed in addition to simple force reflection. One method involves virtual forces and another utilizes velocity reflection. Each method, practical only with object-based control, enhance the man-machine interface by providing a heuristic method of control.

Descriptors :   *MAN MACHINE SYSTEMS, *REMOTE CONTROL, *SPACECRAFT DOCKING, *TELEOPERATORS, KINEMATICS, VELOCITY, SIMULATION, INTERFACES, MOTION, THESES, REFLECTION, TARGETS, DEGREES OF FREEDOM, FEEDBACK, HEURISTIC METHODS, MANUAL OPERATION, CALIBRATION, LINKAGES, MANIPULATORS, INTERCEPT TRAJECTORIES.

Subject Categories : Bionics
      Human Factors Engineering & Man Machine System
      Manned Spacecraft

Distribution Statement : APPROVED FOR PUBLIC RELEASE