Interactive animated displayed of man-controlled and autonomous robots
An interactive computer graphics program has been developed which allows an operator to more readily control robot motions in two distinct modes; viz., man-controlled and autonomous. In man-controlled mode, the robot is guided by a joystick or similar device. As the robot moves, actual joint angle information is measured and supplied to a graphics system which accurately duplicates the robot motion. Obstacles are placed in the actual and animated workspace and the operator is warned of imminent collisions by sight and sound via the graphics system. Operation of the system in man-controlled mode is shown. In autonomous mode, a collision-free path between specified points is obtained by previewing robot motions on the graphics system. Once a satisfactory path is selected, the path characteristics are transmitted to the actual robot and the motion is executed. The telepresence system developed at the University of Florida has been successful in demonstrating that the concept of controlling a robot manipulator with the aid of an interactive computer graphics system is feasible and practical. The clarity of images coupled with real-time interaction and real-time determination of imminent collision with obstacles has resulted in improved operator performance. Furthermore, the ability for an operator to preview and supervise autonomous operations is a significant attribute when operating in a hazardous environment.
- Research Organization:
- Univ. of Florida, Gainesville
- OSTI ID:
- 6868510
- Report Number(s):
- CONF-861102-; TRN: 87-008402
- Journal Information:
- Trans. Am. Nucl. Soc.; (United States), Vol. 53; Conference: American Nuclear Society and Atomic Industrial Forum joint meeting, Washington, DC, USA, 16 Nov 1986
- Country of Publication:
- United States
- Language:
- English
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