Teleoperator hand controllers: A contextual human factors assessment
This document provides a human factors assessment of controllers for use with remotely controlled manipulators deployed to remove hazardous waste from underground storage tanks. The analysis concentrates on controller technique (i.e., the broad class of hand controller) and not on details of controller ergonomics. Examples of controller techniques include, for example, direct rate control, resolved unilateral position control, and direct bilateral position control. Using an existing concept, the Tank Waste Retrieval Manipulator System, as a reference, two basic types of manipulators may be identified for this application. A long reach, gross-positioning manipulator (LRM) may be used to position a smaller manipulator or an end-effector within a work site. For a Long Reach Manipulator, which will have an enormous motion range and be capable of high end-effector velocity, it will be safest and most efficient to use a resolved rate control system. A smaller, dexterous manipulator may be used to perform handling work within a relatively small work site, (i.e., to complete tasks requiring near-human dexterity). For a Dexterous Manipulator, which will have a smaller motion range than the LRM and be required to perform more difficult tasks, a resolved bilateral position control system will be safest and most efficient. However, during some waste recovery tasks it may be important to support the users by restricting movements to a single plane or axis. This can be done with a resolved bilateral position control system by (1) using the master controller force output to restrict controller inputs or (2) switching the controller to a multiaxis rate control mode and using the force output to provide a spring return to center functionality.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10160431
- Report Number(s):
- ORNL/TM-12762; ON: DE94013840
- Resource Relation:
- Other Information: PBD: May 1994
- Country of Publication:
- United States
- Language:
- English
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