Predictive displays and shared compliance control for time-delayed telemanipulation

Considers the ground station control of space robots in which a communication time delay problem arises. The round-trip time delay of the communication link between the ground station and a space robot in low earth orbit (via one or more geosynchronous satellites) is expected to be as long as 2-8 seconds. In order to enhance time delayed telemanipulation performance, the authors have recently developed two schemes at JPL: predictive display and shared compliance control. During free motion, predictive display is used. During contact or insertion, compliance control is used. Therefore the authors' strategy for time-delayed telemanipulation employs predictive display and shared compliance control alternately to enhance human task performance.>