There are many types of manual controllers in use today, ranging from simple button boxes to advanced kinesthetic devices. The RRG currently owns four advanced manual controllers, three of which have force feedback capability.
Force feedback increases "telepresence" or the "feel" of the operator to the remote environment, which helps the operator to perform tasks more effectively. Trying to maximize telepresence under various conditions has been a subject of research in the last decade or so.
Many control schemes for telerobotic applications have been developed. Examples of the control schemes in use are position control, rate control, and impedance control. Choosing a control scheme depends on the type of manual controllers and the tasks at hand.
|
SpaceTec SpaceBall |
TOS Controller |
Kraft Controller |
PerForce Controller |
|
