The Interface

 

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.