Generalised Visual Aid for Direct Teleoperation Applied to ETS-7 Truss Manipulation Experiment

This paper reports the latest results of a newly developed visual aid system for direct teleoperation applied to the ETS-7 truss deployment experiment. This aid system does not depend on a designed model of the workplace. It introduces the "predictive force" to calculate the appropriate joystick input, and displays it to the operator in the joystick coordinate system to enable the operator easily follow the direction. This "predictive force method" is extended to automatic programming to make an efficient teleoperation system by combining the direct teleoperation and the program control.