A comparative study of Cartesian and configuration space for manipulating a 3-D task

Dual views of Cartesian and configuration space are proposed for helping a human operator in a teleoperation system with transmission delays. We evaluate which view of Cartesian or configuration space is better for selecting an adequate path until a destination. This comparison was tried in our previous work but is not enough because a 2D manipulator with almost two-degrees-of-freedom was selected. A set of horizontal tasks cannot be achieved by this manipulator and therefore is not universal. For this reason, in this paper, we compare which view is better for operating a general 3D manipulator with completely three-degrees-of-freedom. A set of horizontal and vertical tasks can be managed by this manipulation. In addition, we are trying to clear which view of Cartesian or configuration space is better for learning a reasonable sequence in the same 3D manipulation.