The Responsive Workbench. A virtual environment for teleoperation

This paper is concerned with the definition and set-up of a virtual reality (VR) environment for the simulation, visualization, operation and control of a mobile robot in outer space called an instrument deployment device (MIDD). The Responsive Workbench (RWB) serves as an example for such a potential synthetic environment. The RWB is a stereoscopic projection system which allows the user to view a computer generated scene like a real model on a workbench. Objects appear as 3D-objects placed on the table and can be viewed from any perspective using stereo shutter glasses. The operator can interact with the scene and directly view the result of the interaction task. Feeding in simulated or measured status data from the real world (i.e. robot sensors and status data) allows one to monitor and control automated remote systems. The paper describes a possible application scenario for the use of VR for teleoperation in space missions covering the different stages from the modeling and design phase to the control of experiments during a mission in outer space. It describes an environment that can support the scientists at the various stages of a planetary mission.