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Graphical interface between the CIRSSE testbed and CimStation software with MCS/CTOSThis research is concerned with developing a graphical simulation of the testbed at the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) and the interface which allows for communication between the two. Such an interface is useful in telerobotic operations, and as a functional interaction tool for testbed users. Creating a simulated model of a real world system, generates inevitable calibration discrepancies between them. This thesis gives a brief overview of the work done to date in the area of workcell representation and communication, describes the development of the CIRSSE interface, and gives a direction for future work in the area of system calibration. The CimStation software used for development of this interface, is a highly versatile robotic workcell simulation package which has been programmed for this application with a scale graphical model of the testbed, and supporting interface menu code. A need for this tool has been identified for the reasons of path previewing, as a window on teleoperation and for calibration of simulated vs. real world models. The interface allows information (i.e., joint angles) generated by CimStation to be sent as motion goal positions to the testbed robots. An option of the interface has been established such that joint angle information generated by supporting testbed algorithms (i.e., TG, collision avoidance) can be piped through CimStation as a visual preview of the path.
Document ID
19930020029
Acquisition Source
Legacy CDMS
Document Type
Contractor Report (CR)
Authors
Hron, Anna B.
(Rensselaer Polytechnic Inst. Troy, NY, United States)
Date Acquired
September 6, 2013
Publication Date
December 1, 1992
Subject Category
Computer Programming And Software
Report/Patent Number
NASA-CR-193276
NAS 1.26:193276
RPI-CIRSSE-131
Accession Number
93N29218
Funding Number(s)
CONTRACT_GRANT: NAGW-1333
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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