Graphical User Interface Screenshots

The Graphical User Interface Control System is a series of modules which are used to control different aspects of the robotic projects. Screenshots of the different forms are shown below, along with a short summary of the exact features are on that form.

 Control Station Composite

This screenshot shows how several modules on the control station are combined. Several windows can be laid out according to the operator's preferences. Different modules like the graphical simulation and control station modules can be combined as desired.

Future Control Station Conceptual Designs

Several control station variants are planned for the mission. These include specialized applications which allow specific operators to have distinctive advantages when controlling Ranger in their environment. For instance a faster, easily accessible control station is designed for operators in space. While ground operators may use a control station based in virtual reality.

Operation Control Interface (OCI)

An independent application, this interface uses quick menus to display only the most important data and control features. A more efficient control interface, the OCI is designed for pilots during nominal operations. Any significant anomaly may require the activation of the Engineering Control Interface which hold all development and debugging panels.

 Flight Control Form

This control station module was an earlier version of what was to become the Operation Control interface. It's compact design allows the user to access the most important functions on Ranger. Most control will occur using a pair of hand controllers. Other capabilities are controlled using a keyboard and trackball.

 Virtual Environment Control System

This control station module is based in the virtual environment. Unlike the Graphical User Interface Control System which primarily uses windows to display information. The primary mode for controlling Ranger and understanding its telemetry is using virtual reality. By manipulating the virtual world commands are sent to the robot.

SCAMP Control Panels

A series of panels are dedicated to controlling another vehicle, SCAMP. Used to provide Ranger with an alternate, freely mobile camera view, operators can use the GUICS to switch control between Ranger and SCAMP to control both robots. View SCAMP Control Panels.

Arm Control Panels

Ranger has four manipulators, each with a different task. However the control of each arm is similar. A series of templates were developed to be used for any of the four arms. Therefore each arm control station module looks alike, except for a few small differences. For instance, the Joint Control Form controls each joint individually, for the prototype right arm (shown in the figure) there are seven joints. However for the shuttle flight versions, the right arm will have eight joints. There exists 8 slots to control each joint, but the prototype right arm only uses the first seven. Except for small differences like described the forms look the same for each of Ranger's arms.

 Summary Form

This form command several modes and controls fundamental abilities of the arm. This include enabling the arm before control, specifying which control algorithm controls the arm, and safeing the arm. The basic controls include opening/closing and turning the end effector, defining which end effector is active, nulling the forces in the arm, and monitoring the loop rates of the control software.

 Joint Control Form

This form was designed to control the arm when using the Joint by Joint controller. Each joint can be manipulated using the increment buttons or by directly inputting the joint angle. This forms as displays feedback from the arm. This includes the actual position of each joint as well as the desired position used by the Resolved Rate controller.

 IO Control Form

This form allocates an SSL approved input device to control the arm. Used with the Resolved Rate, Cartesian Position, and Impedance controllers the selected input device can be monitored as it sends commands to the vehicle. Each component of the input device can be amplified allowing for increased/decreased command values which then modifies the arms output velocity.

Resolved Rate Control Form

This form allows the user to change several modes when using the Resolve Rate or Cartesian Position controller. The arm can be controlled manually using and input device or automatically by the computer. The frame of reference can be chosen. Testing parameters can be changed, time delay and a message rate throttle can be induced.

 Cartesian Position Form

This form commands different modes and parameters when using the Cartesian Position Trajectory controller. The exact ending position of the end effector can be controller along with the target trajectory time. The frame of reference can also be specified.

 Impedance Control Form

This form commands the different modes and parameters when using the Impedance controller. The impedance gains can be modified, different modes can be switched and monitored, and feedback on the controller is also presented.

 IO Display Form

This form is used to activate, monitor, and terminate input device processes. It allows the user to reset the different input devices as well as observe the raw information gathered from the specified input device.

 Joint Parameters Form

This form primarily is used to monitor many low level sensors and functions of joints. Temperature, voltage, current, raw and converted encoder counts for each joint or processor can be monitored. Each joint can be enabled, disabled, and reset individually. Finally the control gains can be viewed and uploaded with this form.

 Force Torque Sensor Form

This form purpose is to command and monitor the force/torque sensor in the arm. The raw values of each sensor, along with the resulted forces are displayed. Also the force deadband values can be uploaded.

 Arm Control Software Form

In general, on board software is controlled automatically during startup and when control mode changes are command using other forms. This form can also be used to command the initiation and termination of on board processes, related to the control of the arm, directly. The form monitors which processes are currently loaded and allows the user to load and kill those processes.