Arm Control Panels

This group of panels are used during nominal operations when controlling a particular manipulator. Each panel shown here is provided for each manipulator. Therefore the Arm Summary panel is a template for four panels: DXL Arm Summary, DXR Arm Summary, PXL Arm Summary, and VID Arm Summary.

Command authority is required for that particular arm to be able to use the command object (colored in gray). So the operator must have command authority of the DXL system, before they will be able to use the Enable button on the DXL Arm Summary Panel

Contents

Arm Sumary Panel

Arm Cartesian Control Panel

Arm Impedance Control Panel

Arm Joint Control Panel

Input Control Panel

Input Display Panel

ARM Raw Mode = armRawMode


Arm Summary Panel

This panel provides some overall control of an arm. Several functions in this panel affects the performance of the entire arm. The arm can be set up using this panel including the choice between the control mode used to move the arm.

Master Control Buttons

These buttons affect the entire manipulator.

Enable Button

This button will send the command to enable/disable all degrees of freedom (DOF) on a manipulator. The button can be toggled on and off, enabling and disabling the manipulator.

Reset Button

This button send a resent command for the entire arm, which will also disable all DOF.

Null Forces button

This button is used to null the forces and torques on the arm.

Gripper Buttons

These two buttons allow the operator to command the tool gripper to open or close.

Tool Buttons

These two buttons allow the operator to command the tool drive to turn.

Controller Radio Buttons

These radio buttons designate which on board arm controller is currently commanding the specified manipulator.

Joint ­ This will allow the operator to directly or indirectly control each joint on the manipulator.
Cartesian ­ This option activates inverse kinematic control of the end point of the manipulator.
Admittance ­ This option uses force torque sensor readings to modify the inverse kinematic control of the arm, useful for contact operations. The option menu below the admittance radio button sets which admittance mode is currently being used.

Send PTool Button

This button samples the PTool Input Boxes and send a command to update the parameters used on board Ranger to calculate the virtual tool tip of a manipulator.

PTool Input Boxes

These input boxes allow the operator to change the end effector offsets used to rotate the end effector about that point. Note: No change occurs until the Send PTool button is pressed.

Trajectory Mode Buttons

Track Radio Button

This mode allows the operator to move the trajectory arm to a desired location, which can then be used as a joint trajectory location.

Plan Radio Button

This mode allows the operator to work off line and create a trajectory script specifying several waypoints that the manipulator will move through.

Simulate Button

This button will activate the trajectory simulation to imitate what the actual arm will do when the trajectory is initiated.

Execute Button

This button commands the trajectory to be performed on the vehicle.

Inner Loop Rate Input Box

This box allows the operator to specify the rate that the internal force loop runs.

Outer Loop Rate Input Box

This box allows the operator to specify the rate that the outer control loop runs on board Ranger.

Time Delay Input Box

This allows the operator in induce a time delay for the arm commands which are streamed from an input device.

Sampling Rate Input Box

This input allows the operator to reduce the rate the commands streamed from and input device are sampled, the default is 20 Hz.


Arm Cartesian Control Panel

This panel is used to effectively move the arm. The Control Mode determines what the operator will use to command the arm to move: an input device, a trajectory, or position of another manipulator, etc.

Control Mode radio buttons

These radio buttons designate how the specified arm will be controlled. The available options are dependent on with Controller mode the operator is using.


Manual ­ The operator controls the manipulator directly using an input device or the Joint Angles area. The toggle button to the right yield two options

RR ­ Resolved Rate, the input device controls the end of the manipulator by commanding velocity of the tip.
CP ­ Cartesian Position, the input device controls the end of the manipulator by providing updates to the desired position and orientation of the tip.

Auto ­ The operator controls the manipulator indirectly by running a preprogrammed trajectory or requesting a smooth motion to a single waypoint. The toggle button to the right has two options

CS ­ Control Station, the control station sends a message to run a preplanned trajectory.
WayPt ­ Waypoint, the operator can use the Joint Angles area or the Cartesian Position area to send the manipulator to a single designated position.

Track ­ The manipulator will match relative position movement of another manipulator( i.e. the VID could track the DXR, and as the DXR moves forward the VID will move forward the same amount). Although the position of the manipulator tracks another, an input device can still control rotation of a tracking manipulator.

Frame radio buttons

These radio buttons designates the Cartesian frame of reference of the tool tip of the specified arm.

Base ­ This frame is relative to the base of the manipulator module of TSX.
Tool ­ This frame is the local end effector frame.
Shuttle ­ This frame matches the Orbiter coordinate system.
Panel ­ This frame is relative to the task panel
Camera ­ This frame is aligned with the view of the video camera on the VID

Trigger Button

After changes have been made to the Cartesian Position Components, this button will cause the arm to move the new desired position.

Time Input

The operator specifies the number of seconds the manipulator will take to arrive to the new desired position.

Time Slider

The slider below the time input displays the percent time complete for the currently running trajectory. The bar files the rectangle when the trajectory is complete.

Copy Button

This button is used by the operator to copy the values of the actual Cartesian position, shown in background blue color, to the desired Cartesian position, indicated by gray color.

Zero Button

This button zeros all the inputs for the desired Cartesian position.

Cartesian Position Components "X","Y", "Z", "Roll",...

The right most fields specifies the actual Cartesian position of the tool tip in the frame designated in the Frame radio buttons. The light gray field allows the operator in input the desired location of the tool tip in reference to the appropriate Frame. The increment and decrement buttons update the desired field depending on which mouse button clicked the button (left mouse = 1 m/10 deg, middle mouse = 0.1 m/ 1 deg, right mouse = 0.01 m/0.1 deg). Note updating the input field directly or by using the increment/decrement buttons causes no change the manipulator until the Trigger button is pressed.


Arm Impedance Control Panel

This panel is used by the operator to control the arm in impedance mode. Gain parameters can be quickly switched using predefined modes or finely tuned.

Loop Active Button

This button is used to activate/deactivate the impedance loop on board the vehicle.

Mode Menu Button

This menu, next to the Display menu, allows the operator to choose which mode the impedance controller is in. This mode updates the specific B, M, K parameters to the vehicle.

Mode Text Box

This text box displays the current mode the impedance controller is in.

Rate [Hz] Text Box

This box displays the impedance controller loop rate running on board the vehicle.

Filter Indicators

The filter is directly associated with the impedance mode. This is displayed lighting up the appropriate indicator in the FLTR group.

Rec Button

A recording process collecting data from the impedance controller can be activated/deactivated using this button

File Number Text Box

The box next to the Rec button, increments for every activation of the record function. That number specifies which file is currently being recorded.

Impedance Gain Input Boxes

The impedance gains for each Cartesian component can be modified here.

No change takes effect until the appropriate send button is activated.

Impedance Gain Send Buttons

These buttons will sample the six Cartesian components and send them to the vehicle.

Position Adjustment Text Boxes and Sliders

These objects display the amount of position adjustment to the desired Cartesian position is due to the impedance controller.


Arm Joint Control Panel

This group of objects is used to monitor and control the individual joints on the specified manipulator.

Input Source Radio and Toggle Buttons

These radio buttons designate how the specified arm will be controlled. The available options are dependent on with Controller mode the operator is using.

Manual ­ The operator controls the manipulator directly using an input device or the Joint Angles area. The toggle button to the right yield two options

RR ­ Resolved Rate, the input device controls the end of the manipulator by commanding velocity of the tip.
CP ­ Cartesian Position, the input device controls the end of the manipulator by providing updates to the desired position and orientation of the tip.

Auto ­ The operator controls the manipulator indirectly by running a preprogrammed trajectory or requesting a smooth motion to a single waypoint. The toggle button to the right has two options

CS ­ Control Station, the control station sends a message to run a preplanned trajectory.
WayPt ­ Waypoint, the operator can use the Joint Angles area or the Cartesian Position area to send the manipulator to a single designated position.

Trigger Button

This button activates the current trajectory.

Traj # Input

The operator can type in this field to indicate an appropriate preplanned trajectory.

Trajectory Menu "No Trajectory"

This menu allows the operator to select from a list of preplanned trajectories. This chosen trajectory 's id will be updated to the Traj # Input.

Individual Joint Angles "Jt 0","Jt 1",...

The bottom text box shows actual joint angle telemetry. The light gray input field, on the top, indicates the desired joint angle. When Controller is in "Joint" mode the operator can type the desired joint angle and hit return to directly control the joint. The increment and decrement buttons move the desired joint by a set amount depending on which mouse button was used to click the button (left mouse = 10 degrees, middle mouse = 1 degree, and right mouse = 0.1 degree). There are two sliders for each degree of freedom. The left slider, with the blue marker, graphically shows the desired angle. The right slider, with the green marker, indicates the actual angle of that joint.


Input Control Panel

This panel is used to interpret input device readings into appropriate manipulator commands. It allows the operator to choose which input device they wish to use to control the arm, as well as scale the inputs.

Input Source Menu Button

This button allows the operator to choose which input device will be able to control the manipulator. The exact functionality depends on which mouse button was used to activate the button.

Mapping Menu Button

This menu allows the operator to chose how the input device readings are mapped into commands.

Linear - This mapping is one to one, for every change in the input device an equal change is given in the commands.
Square - This mapping squares the input device reading, therefore when a reading is tripled on an input device the resulting command is nine times larger.

Translational Scale Input Box

This input box allows the operator to specify a multiplier to the input device readings for the translational Cartesian components (X, Y, Z). Defaulting at one, if a zero is input then no translational movement will be commanded. A multiplier of 2 will double the translational commands sent to the vehicle.

Rotational Scale Input Box

This is the same as above, except for the rotational Cartesian components (Roll, Pitch, Yaw).

Component Scale Input Boxes

This allows the operator to specify a multiplier for each Cartesian component independently. Defaulting at one, if a zero is input then no movement will be commanded for that component. A multiplier of 2 will double the commands sent to the vehicle.

Component Value Sliders

These slider display the commands being sent to the vehicle.

Input Device Buttons

These buttons show what buttons are being activated on the input device, as well as describe what function they activate. The operator can directly click on these button to initiate behavior as if they had used the input device button.


Input Display Panel

This area allows the user to monitor the commands generated from using an input device. The six value sliders show the Cartesian commands being sent to the vehicle. Either resolve rates (using non-dimensional velocity rates from ­1 to 1) or absolute Cartesian position ( in meters and degrees) will be displayed.

Analog Display Menu Button 'Position'

This menu allows the operator to choose between three types of information that can be displayed on the sliders.

Input Device Menu Button 'HCA'

This button displays a menu with all the input devices listed and allows the operator to choose which input device will be monitored.

Zero button

This button will zero out the input device, this can be used to remove a displacement bias over time.

Load/Quit button

This button can be used to load/quit an input device chosen in the Input Device Menu. If the chosen input device is not detected the button will read load. Clicking the button will launch the input device. Once running the button will change to 'Quit'. Activating the button now will terminate the chosen input device.

Cartesian Components Value Sliders 'Fwd', 'Side', ...

The six value sliders show the Cartesian components being read from the input device. Either resolve rates (using non-dimensional velocity rates from ­1 to 1) or absolute Cartesian position ( in meters and degrees) will be displayed.

Input device buttons

This group of indicators show the input device buttons and lit up when those button are being pressed.


ARM Raw Mode = armRawMode

These panels provide a concise control for the different control modes for each arm.

 Form Name: armRawMode

Label: "ARM Raw Mode"

Form Id: <armSubsystemID>06

 

Controller Menu = armControllerM

Control Mode Menu = armControlModeM

Frame Menu = armFrameM

Admittance Menu = armAdmittanceM

armAdmittanceMLabelObj
[0] Admittance Mode
 
armAdmittanceMCmdObj
!!Note the parameter should match the definitions in RTSX/armcon/armCon.h
[0] Off -> armRawMode_armAdmittanceMenuButtonCB(0)
[1] Contact -> armRawMode_armAdmittanceMenuButtonCB(1)
[2] Teach -> armRawMode_armAdmittanceMenuButtonCB(2)