Handling Qualities Evaluation of Time Delay and Predictive Model on Teleoperation Docking
نویسندگان
چکیده
منابع مشابه
Multiple Model Control for Teleoperation Under Time Delay MULTIPLE MODEL CONTROL FOR TELEOPERATION UNDER TIME DELAY
Performance and stability of bilateral teleoperation control systems are adversely affected by variations in environment dynamics and time delay in communication channel. Prior relevant research in the literature has mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability. In contrast, this thesis proposes methods to deal with these two main problems ...
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This paper deals with a problem of predictive control for nonlinear multi-DOF teleoperation with time varying delay, parametric uncertainties of the robot model and uncertainties of remote environment. The proposed method is combination of the PD control based on the predictors and the adaptive impedance control. Since the predictors are used to simultaneously estimate the master and slave dyna...
متن کاملThe Stochastic Time Delay Model and Prediction for Space Teleoperation
Space teleoperation means an extension of human operator’s intelligence to the remote telerobot in the space, and has been widely applied in space exploration and service. The main difficulty in teleoperation is the large stochastic time delay between operator and telerobot. Previous works on space teleoperation mainly focus on the control design, and some researches also give good solutions to...
متن کاملHandling Qualities Evaluation of Pilot Tools for Spacecraft Docking in Earth Orbit
A piloted simulation was conducted to study handling qualities for the final phase of spacecraft docking in Earth orbit. Twelve evaluation pilots, including 10 pilot astronauts, provided Cooper-Harper ratings, Task Load Index ratings, and qualitative comments. The piloting task was manual translational control with automatic attitude hold during the final 10 ft of docking approach until the doc...
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ژورنال
عنوان ژورنال: Journal of Spacecraft and Rockets
سال: 2017
ISSN: 0022-4650,1533-6794
DOI: 10.2514/1.a33704