Ergonomic and Efficient Software Alternatives for High Cost

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Ergonomic and Efficient Software Alternatives for High Cost Manipulators - Direct, Wireless and Networked

Ergonomic and Efficient Software Alternatives for High Cost Manipulators - Direct, Wireless and Networked Control Techniques December 2001 by: Tarek Sobh, Raul Mihali

High Cost Manipulators n n deciding-on and purchasing the right manipulator(s) for a predetermined

High Cost Manipulators n n deciding-on and purchasing the right manipulator(s) for a predetermined task (budget, purchasing time) educational institutions (diversity of software / hardware controlling techniques; possibility of becoming victims of abusive usage)

Ergonomic and Efficient Software Alternative n n n software simulation and control package standalone

Ergonomic and Efficient Software Alternative n n n software simulation and control package standalone simulator networked simulator “virtual” manipulator remote automation / distance learning cell phone based control

The Manipulator Used in the Implementation Mitsubishi, RV-M 1 (Movemaster EX) n general purpose

The Manipulator Used in the Implementation Mitsubishi, RV-M 1 (Movemaster EX) n general purpose commercial arm n n 5 DOF

The Simulator: Design Consideration . . . simple interface, user friendly front end

The Simulator: Design Consideration . . . simple interface, user friendly front end

The Simulator: Kinematics IK/DK control, workspace-safe, real-time, CAD/robot

The Simulator: Kinematics IK/DK control, workspace-safe, real-time, CAD/robot

The Simulator: Trajectory Control real-time trajectory modeling and testing, CAD/robot

The Simulator: Trajectory Control real-time trajectory modeling and testing, CAD/robot

The Simulator: Robot Connectivity Control IK tolerance, home positioning, gripper force, defaults

The Simulator: Robot Connectivity Control IK tolerance, home positioning, gripper force, defaults

The Simulator: Networking Model client simulator client/server simulator server/robot simulator n direct serial link

The Simulator: Networking Model client simulator client/server simulator server/robot simulator n direct serial link connectivity actual robot pipelined TCP/IP connectivity, allowing for effective distance learning methods and flexible remote automation and control n

The Simulator: Networking Model Scenario controlling the robot through 2 pipelined simulators

The Simulator: Networking Model Scenario controlling the robot through 2 pipelined simulators

The Simulator: Cell Phone Server Mode in cell phone server mode, the simulator allows

The Simulator: Cell Phone Server Mode in cell phone server mode, the simulator allows direct control over the manipulator or a pipeline of simulators, through a web enabled cell phone