A Design Space of Control Coordinate Systems in Telemanipulation

• Published in: IEEE access Vol. 12; p. 1
• Main Authors: Wang, Yeping, Praveena, Pragathi, Gleicher, Michael
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.01.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); Institute of Electrical and Electronics Engineers
• Subjects: Aerospace electronics; Cameras; Codification; Control Coordinate System; Control systems; Coordinate measuring machines; Coordinates; Design; Design criteria; Design Space; Input devices; Input Mapping; Motors; Remote control; Robot kinematics; System effectiveness; Task analysis; Tele-manipulation; Teleoperators; Visual analytics; Visual-Motor Misalignment

Teleoperation systems map operator commands from an input device into some coordinate frame in the remote environment. This frame, which we call a control coordinate system , should be carefully chosen as it determines how operators should move to get desired robot motions. While specific choices ma...