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Configuration space as a means for augmenting human performance in teleoperation tasks

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2 Author(s)
I. Ivanisevic ; Robotics Lab., Wisconsin Univ., WI, USA ; V. J. Lumelsky

This paper considers an approach to operator-guided real time motion control of robot arm manipulators that's based on the use of configuration space (C-space). The goal is to improve operator performance in a complex environment with obstacles, In such tasks, traditional teleoperation techniques, which are all based on control in work space (W-space), suffer from human errors tied to deficiencies in human spatial reasoning. The C-space approach transforms the problem into one humans are much better equipped to handle-moving a point in a maze-and results in a significant improvement in performance: shorter path, less time to complete the task, and virtually no arm-obstacle collisions. Versions of the approach are described for two-dimensional (2-D) and three-dimensional (3-D) tasks, and tools are developed to efficiently interface the human and machine intelligence. Effectiveness of the C-space approach is demonstrated by a series of experiments, showing an improvement in performance on the order of magnitude in the 2-D case and a factor of two to four in the 3-D case, compared to usual work space control

Published in:

IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)  (Volume:30 ,  Issue: 3 )