Using Manipulator Position Displays for Controlling Space Robotics 961587
During the STS-69 Space Shuttle flight in September, 1995, the Manipulator Position Display (MPD) and the Joint Angle Display (JAD) were used for the first time on-orbit. The title of the evaluation was Development Test Objective (DTO) 831, “Manipulator Position Display as an Aid to Remote Manipulator System (RMS) Operators.” The MPD and JAD provided hand controller input cues and situational awareness cues to assist the RMS operator. These two displays were evaluated by the STS-69 astronauts while operating the Space Shuttle's Remote Manipulator System (RMS). The display software ran on the standard Space Shuttle laptop computers, the Payload and General Support Computers (PGSC's), and the displays were viewed by the astronauts on the PGSC monitors. RMS position, attitude, joint angle, and mode data were used to derive the display cues. This paper discusses the results of this on-orbit evaluation including performance data and crew comments.