Community Research and Development Information Service - CORDIS

Abstract

The paper describes a graphical user interface developed to improve the operator's ability to drive a remote manipulator arm, by integrating a 3D dynamic view of the articulated robot and an interactive control panel. The system's operator uses a six degrees of freedom Spaceball to control the manipulator arm. Spaceball commands are input to an inverse kinematics task, which computes in real-time the displacements for the desired position of the end-effector. Motion feedback is obtained by reading periodically the optical encoders at each joint in the robotic arm system. The arm's graphical model is immediately updated and displayed onto the screen, providing the operator with the feedback of a real-time 3D animated view. The arm's kinematics analysis provides the definition of the work space available at any moment, in order to avoid static obstacles. The use of TV cameras in addition to the real-time graphical tool completes the visualisation system. The paper details the 3D model design employed for the arm representation. Also discussed is the implementation of a graphical simulation tool designed to help with the training of the system's operator.

Additional information

Authors: SILVA F M, JRC Ispra (IT);GONÇALVES J G M, JRC Ispra (IT);GONCALVES J G M, JRC Ispra (IT)
Bibliographic Reference: Paper presented: COMPUGRAPHICS '92, Lisboa (PT), December 14-18, 1992
Availability: Available from (1) as Paper EN 37218 ORA
Record Number: 199211442 / Last updated on: 1994-11-29
Category: PUBLICATION
Original language: en
Available languages: en