Performance Testing of a Large Scale Manipulator to Determine Relative Utility of Several Operator Interfaces

Performance tests were conducted on the University of Texas's Large Scale Manipulator (LSM) while it was being operated via three input command interfaces. Two of the interfaces were manual interfaces-a conventional eight-lever operator console and a six-degree of freedom (DoF) spaceball. The third input interface was preprogrammed motion, in which the LSM performed motions preprogrammed into an input file without operator intervention. The tests were based on ANSI tests for industrial robots. The tests measured accuracy, repeatability, and speed. The purpose of the tests was to rate the performance of the LSM under each command interface. Tests showed pre-programmed path following be the superior to manual operation. Current research aims to develop special computer-assisted modes of operation for the space ball that should make path following under manual control viable.