Current Search: Agba, Emmanuel I. (x)
-
-
Title
-
Objects interaction using superquadrics for telemanipulation system simulation.
-
Creator
-
Agba, Emmanuel I., Wong, Tin-Lup, Huang, Ming Z., Clark, A. M., Harbor Branch Oceanographic Institute
-
Date Issued
-
1993
-
PURL
-
http://purl.flvc.org/FCLA/DT/3342309
-
Subject Headings
-
Robotics, Telemanipulator, Simulation
-
Format
-
Document (PDF)
-
-
Title
-
Hybrid telemanipulation simulation for mission rehearsal and intervention.
-
Creator
-
Agba, Emmanuel I., Florida Atlantic University, Wong, Tin-Lup, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
-
Abstract/Description
-
A "hybrid" telerobotic simulation system that is suitable for telemanipulation rehearsal, operator training, human factors study and operator performance evaluation has been developed. The simulator also has the capabilities for eventual upgrade for supervisory control. It is capable of operation in the conventional rate-control, master/slave control and a data driven preprogrammed mode of operation. It has teach/playback capability which allows an operator to generate joint commands for real...
Show moreA "hybrid" telerobotic simulation system that is suitable for telemanipulation rehearsal, operator training, human factors study and operator performance evaluation has been developed. The simulator also has the capabilities for eventual upgrade for supervisory control. It is capable of operation in the conventional rate-control, master/slave control and a data driven preprogrammed mode of operation. It has teach/playback capability which allows an operator to generate joint commands for real time teleoperation. For high-level task execution, the operator selects a specific task from a set of menu options and the simulator automatically generates the required joint commands. The simulator was developed using a three dimensional graphic model of an increasingly popular manipulator, TITAN 7F. A closed-form solution for inverse kinematics of the manipulator was found. Degeneracies from inverse kinematics solutions were observed to exist for certain arm configurations, although the manipulator can physically attain such configurations. An approach based on known facts about the manipulator geometry and physical constraints coupled with heuristics was used to generate physically attainable joint solutions from the inverse kinematics. The conditions that cause solution degeneracy were demonstrated to be related to singularity conditions. A novel object interaction detection strategy was implemented for more realistic telemanipulation. The object detection technique was developed based on the use of superellipsoid, which has a convenient inside-outside function for interference testing. The manipulator, with its end-effector and payloads, if any, were modeled as superquadric ellipsoids. A systematic way of determining transformation matrices between the superquadric manipulator links was developed. The interaction detection technique treats both moving and stationary objects in a consistent manner and has proved to be easy to implement and optimize for real-time applications. The feature has been applied for the simulation of pick-and-place operations and collision detection. It is also used to provide visual feedback as a low-cost force reflection and can be interfaced with a bilateral controller for force reflection simulation.
Show less
-
Date Issued
-
1991
-
PURL
-
http://purl.flvc.org/fcla/dt/12278
-
Subject Headings
-
Manipulators (Mechanism), Remote control, Vehicles, Remotely piloted, Remote submersibles
-
Format
-
Document (PDF)