Teleoperator Visual System Simulations

Abstract

A stereoscopic television system, with a fresnel display, and a monoscopic television system were evaluated for teleoperator application using man-in-the-loop visual and motion simulations. Static simulations were used to investigate camera locations and depth alignment. Dynamic simulations, using both a remote manipulator and a sixdegree-of-freedom moving base programed with the teleoperator maneuvering characteristics, provided data on operator performance typical of satellite maintenance and spinning and nutating satellite retrieval tasks. Results presented show that, by using a stereoscopic system, viewing locations are less critical and tasks times are reduced for satellite maintenance tasks that require alignment or dexterity. Stereoscopic television, using a fresnel display technique, was recommended for application as the primary teleoperator visual system.