Arm Command Manual

Typically the graphical simulation recieves telemetry data from the vehicle or a simulation. This information is used to update Ranger's manipulators in the graphics window. For many tests actual telemetry is not required. The armCmd application uses shared memory to talk directly to the graphical simulation. A control panel is used to move each joint of any arm on Ranger. This manual explains how to initiate and operate the window to move Ranger's arm within the graphical simulation without telemetry.

To run the program type

>armCmd

After loading the following window will appear.

 
 Arm Control Window

1- Message Type Control Radio Buttons

These radio buttons are used to select which message type is coupled with the arm control. The follwoing selections are available:

Act - Actual Position
Cmd - Command Positon
Des - Desired Position
Traj - Trajectory Position

The arm and message type selection combined designate the exact object being controlled. In the window figure the desired position of the left arm is being manipulated. The actual, commanded and trajectory position for the left arm remain unaffected. Also all other arms are unaffected.

2- Arm Control Radio Buttons

These buttons are used to select which of Ranger's manipulator's is currently under control. The following selections are available:

DXL - 7 DOF Dexterous Left Arm
DXR - 7 DOF Dexterous Right Arm
GRP - 7 DOF Grapple Arm
VID - 6 DOF Video Arm
DXL8 - 8 DOF Dexterous Left Arm
DXR8 - 8 DOF Dexterous Right Arm

The arm and message type selection combined designate the exact object being controlled. In the window figure the desired position of the left arm is being manipulated. The actual, commanded and trajectory position for the left arm remain unaffected. Also all other arms are unaffected.

3- Joint Control Input Fields

Each joint can be explicitly move to a direct angle.Type the angle into the appropriate field, in degrees (-180 to 180) and press tab, return or enter. The joints are identified from zero, proximal to the manipulator base, increasing to the distal joints towards the end effector.

4- Joint Control Increment Buttons

Each joint can be incremented using the appropriate up button. The amount that the angle is incremented is dependent on which mouse button was used.

Left mouse button = + 10 degrees
Middle mouse button = + 5 degrees
Right mouse button = + 1 degree

The joints are identified from zero, proximal to the manipulator base, increasing to the distal joints towards the end effector.

5- Joint Control Sliders

There are a pair of sliders for each joint. The leftmost slider, colored blue on grey, is the command slider. Manipulate this slider to quickly move the joint. The rightmost slider, colored green on blue, is the telemetry slider. It merely confirms that the command was sent. The range for each slider is -180 to 180 degrees. The joints are identified from zero, proximal to the manipulator base, increasing to the distal joints towards the end effector.

6- Joint Conttrol Decrement Buttons

Each joint can be decremented using the appropriate down button. The amount that the angle is decremented is dependent on which mouse button was used.

Left mouse button = - 10 degrees
Middle mouse button = - 5 degrees
Right mouse button = - 1 degree

The joints are identified from zero, proximal to the manipulator base, increasing to the distal joints towards the end effector.

7- Joint Display Fields

These digital display fields indicates the value of each joint sent to shared memory, it is used to confirm that a command was sent.