Automated Augmented Reality Operator Aids for Space Robotic Teleoperations

Collision-free teleoperation of robotic arms is a critical requirement on the International Space Station (ISS). Astronauts manually navigate robotic arms using video views and are hindered by factors such as limited fields of view, displaycontrol misalignments and poor depth perception. Augmented reality (AR) interfaces can be useful in mitigating many of these issues. An AR technique that synthesizes computer-generated end-effector trajectories in multiple exocentric camera views of the remote robot in the form of colour-coded 3D visual aids is presented. Using these visual-aids, the user manipulates the end-effector through a series of rotations and translations from start to goal. An experiment to determine manual end-effector performance under three conditions was conducted: with AR (AR), with the same aids presented in a stand-alone 3D VR display (VR), and finally, a combination of the two (AR-VR). The AR and AR-VR constrained the robotic arm to well-defined safe regions while VR alone led to significant deviations. The results of the experiment are presented along with a discussion on the benefits and limitations of automation-supported operator aiding during robotic tele-operations.