Computer Simulated Visual and Tactile Feedback as an Aid to Manipulator and Vehicle Control,
Abstract
A computer graphic simulation of a seven degree-of-freedom slave manipulator controlled by an actual master was developed. An electronically coupled E-2 manipulator had previously been interfaced to a PDP-11/34 by K. Tani, allowing the computer to sense and control each degree of freedom independently. The simulated manipulator was capable of moving an arbitrary shaped object and sensing a force in an arbitrary direction with no actual object or force existing. The simulated manipulator could also be attached to a simulated vehicle capable of motion with six degrees-of-freedom. The vehicle simulation is currently being used in conjunction with dynamic simulations developed by H. Kazerooni to test different types of dynamic controllers for submarines. Shadows, multiple views and proximity indicators were evaluated to determine their effectiveness in giving depth information. The results indicated that these aids are useful. Subjects felt that shadows gave the best perception of the environment, but found isometric views easist to use on the tasks performed. This type of simulation appears to be realistic and adaptable to a multitude of applications.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 08, 1981
- Accession Number
- ADA116787
Entities
People
- Calvin Mccoy Winey Iii
Organizations
- Massachusetts Institute of Technology