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The current version of the user interface has several interesting
features:
- The user can generate - e.g., for practice - custom or random
obstacle environments around the arm.
- Both C-space and W-space displays are provided. As mentioned above,
the W-space window is a good tool for visualizing global navigation
tasks, such as deciding on a target position for the arm
endpoint. The user can, for example, define the target in terms of
the arm endpoint Cartesian coordinates (x, y), and the computer will
recover the corresponding arm configuration through inverse
kinematic equations (1, 2).
- Motion control in C-space is done via mouse interaction; joystick
control is being considered, especially in the future 3D extension.
- For experimental purposes, the user can switch back and forth
between C-space and W-space control.
- The simulation keeps track of the time elapsed and path traversed, to
help compare the two control methods.
Igor Ivanisevic
Tue Jul 22 15:07:45 CDT 1997