Motion planning and control of robot manipulators via application of a computer-graphics animated display

Thesis/Dissertation · Thu Jan 01 00:00:00 EST 1987

OSTI ID:7002047

Crane, III, C D

It is often necessary in a hazardous environment for an operator to effectively control the motion of a robot manipulator which cannot be observed directly. The manipulator may be either directly guided via use of a joystick or similar device, or it may be autonomously controlled, in which case it is desirable to preview and monitor robot motions. A computer-graphics-based system was developed that provides an operator with an improved method of planning, evaluating, and directly controlling robot motions. During the direct control of a remote manipulator with a joystick device, the operator requires considerable sensory information in order to perform complex tasks. Visual feedback which shows the manipulator and surrounding workspace is clearly most important. A graphics program which operates on a Silicon Graphics IRIS workstation was developed that provides this visual imagery. A unique obstacle collision warning feature has also been incorporated into the system. Obstacles are monitored to determine whether any part of the manipulator comes close or strikes the object. The graphics system developed has advanced man-machine interaction in that improved operator efficiency and confidence has results.

• Research Organization: Florida Univ., Gainesville (USA)
• OSTI ID: 7002047
• Resource Relation: Other Information: Thesis (Ph. D.)
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
MANIPULATORS
COMPUTER GRAPHICS
ROBOTS
CONTROL SYSTEMS
MAN-MACHINE SYSTEMS
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING EQUIPMENT
420203* - Engineering- Handling Equipment & Procedures
990210 - Supercomputers- (1987-1989)