Path Planner Motion Generator Display Driver Display Control

The Universities Space Automation and Robotics Consortium (USARC) was established to promote research into robotics and telerobotics for remote applications. An important part of the work of the Consortium has been the design and implementation of the Telerobotic Construction Set (TCS), which enables the building of modular telerobotic networks. On-line and oo-line performance analyses are integrated into TCS using quantitative analytical models. This provides the capabilities of measuring and predicting performance and system workloads quantitatively under diierent conditions, such as diierent levels of remote autonomy or diierent operator interfaces. This paper presents the methodology used in the performance/workload analysis and describes recent experiments, measuring teleoperation performance under time delay.