The effectiveness of real-time graphic simulation in telerobotics

摘要

An experimental telerobotic system has been developed which uses graphic simulation support. The operator may select from a variety of display methods including the overlay of the simulation aligned with live video images from the remote site. The robot may also be directly controlled from the simulation, using a six degree-of-freedom hand controller. An experiment has been carried out to determine the effect that having perspective control of simulation has upon the performance of teleoperation task. The experiment also compared the effectiveness of different display methods.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>