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

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

• December 2001
• by Tarek Sobh, Raul Mihali

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High Cost Manipulators

• 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)

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Ergonomic and Efficient Software Alternative

• software simulation and control package
• standalone simulator
• networked simulator
• virtual manipulator
• remote automation / distance learning
• cell phone based control

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The Manipulator Used in the Implementation

• Mitsubishi, RV-M1 (Movemaster EX)
• general purpose commercial arm
• 5 DOF

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The Simulator Design Consideration
...simple interface, user friendly front end
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The Simulator Kinematics
IK/DK control, workspace-safe, real-time,
CAD/robot
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The Simulator Trajectory Control
real-time trajectory modeling and testing,
CAD/robot
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The Simulator Robot Connectivity Control
IK tolerance, home positioning, gripper force,
defaults
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The Simulator Networking Model
client simulator
client/server simulator
client/server simulator
server/robot simulator

• direct serial link connectivity
• pipelined TCP/IP connectivity, allowing for
  effective distance learning methods and flexible
  remote automation and control

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