Matches in SemOpenAlex for { <https://semopenalex.org/work/W155442104> ?p ?o ?g. }
Showing items 1 to 71 of
71
with 100 items per page.
- W155442104 abstract "This dissertation details the development of an intuitive operator interface for a complex serial manipulator, to be used in heavy maintenance tasks. This interfaceallows the operator to control the manipulator in the 'task-space', with software handling the conversion to 'joint-space'. Testing of the interfaces shows operatortask-space control to be most effective in reducing operator workload and improving the ease of use of a complex machine. These methods are applicable in concept, to a wider range of manipulators and other machines.A number of operator interfaces were developed: a Joystick Interface, a Master Arm interface and a 6-D Mouse Interface. The Joystick Interface made use of a task spaceto joint space transformation implemented in software. The Master Arm utilised a scale model to conduct the transformation. Finally, a 3D mouse Interface utilisedsensors in an Android Device with a software based task to joint space transformation. These interfaces were tested and the Joystick Interface proved most suitable according to the operator's subjective opinion. Quantitative measurement also showed that it accurately reproduced the operator's commands.The software transformation developed for the Joystick and 6-D Mouse interfaces utilised the Jacobian Matrix to complete the task-space to joint-space conversion.However, since the manipulator contained a redundant joint, an additional algorithm was required to handle the redundancy. This additional algorithm also improvedmanipulator safety, as it navigated the arm away from singularities which could result in large joint movement. The novelty of this algorithm is based on its pragmatic approach, and could be modified to achieve a number of safety or performance goals.The control strategy centred on the operator specifying commands to the arm in the frame of the task. The developed algorithm enabled the control strategy by ensuringthat viable solutions for joint velocity could be found in a manipulator that has redundant joints. Furthermore, this algorithm utilised a cost function that minimisedthe chances of large joint movements due to singularities, improving the safety of the device.Overall, the project has delivered a viable operator interface for controlling a complex, redundant manipulator. This interface was tested against a number ofalternate operator interfaces. The contrasting results of the strengths and weaknesses of various interfaces meant that a number of key insights were gained, and apragmatic approach to redundancy management was developed." @default.
- W155442104 created "2016-06-24" @default.
- W155442104 creator A5066726411 @default.
- W155442104 date "2014-01-01" @default.
- W155442104 modified "2023-09-26" @default.
- W155442104 title "Development of operator interfaces for a heavy maintenance manipulator" @default.
- W155442104 hasPublicationYear "2014" @default.
- W155442104 type Work @default.
- W155442104 sameAs 155442104 @default.
- W155442104 citedByCount "0" @default.
- W155442104 crossrefType "dissertation" @default.
- W155442104 hasAuthorship W155442104A5066726411 @default.
- W155442104 hasConcept C104317684 @default.
- W155442104 hasConcept C111919701 @default.
- W155442104 hasConcept C113843644 @default.
- W155442104 hasConcept C127413603 @default.
- W155442104 hasConcept C129307140 @default.
- W155442104 hasConcept C133731056 @default.
- W155442104 hasConcept C157915830 @default.
- W155442104 hasConcept C158448853 @default.
- W155442104 hasConcept C17020691 @default.
- W155442104 hasConcept C185592680 @default.
- W155442104 hasConcept C2777904410 @default.
- W155442104 hasConcept C41008148 @default.
- W155442104 hasConcept C44154836 @default.
- W155442104 hasConcept C55493867 @default.
- W155442104 hasConcept C86339819 @default.
- W155442104 hasConcept C96439379 @default.
- W155442104 hasConceptScore W155442104C104317684 @default.
- W155442104 hasConceptScore W155442104C111919701 @default.
- W155442104 hasConceptScore W155442104C113843644 @default.
- W155442104 hasConceptScore W155442104C127413603 @default.
- W155442104 hasConceptScore W155442104C129307140 @default.
- W155442104 hasConceptScore W155442104C133731056 @default.
- W155442104 hasConceptScore W155442104C157915830 @default.
- W155442104 hasConceptScore W155442104C158448853 @default.
- W155442104 hasConceptScore W155442104C17020691 @default.
- W155442104 hasConceptScore W155442104C185592680 @default.
- W155442104 hasConceptScore W155442104C2777904410 @default.
- W155442104 hasConceptScore W155442104C41008148 @default.
- W155442104 hasConceptScore W155442104C44154836 @default.
- W155442104 hasConceptScore W155442104C55493867 @default.
- W155442104 hasConceptScore W155442104C86339819 @default.
- W155442104 hasConceptScore W155442104C96439379 @default.
- W155442104 hasLocation W1554421041 @default.
- W155442104 hasOpenAccess W155442104 @default.
- W155442104 hasPrimaryLocation W1554421041 @default.
- W155442104 hasRelatedWork W1491035383 @default.
- W155442104 hasRelatedWork W1972651113 @default.
- W155442104 hasRelatedWork W2118695294 @default.
- W155442104 hasRelatedWork W2195446513 @default.
- W155442104 hasRelatedWork W2510856030 @default.
- W155442104 hasRelatedWork W2567579749 @default.
- W155442104 hasRelatedWork W2613117287 @default.
- W155442104 hasRelatedWork W2787398896 @default.
- W155442104 hasRelatedWork W2891020955 @default.
- W155442104 hasRelatedWork W2895719796 @default.
- W155442104 hasRelatedWork W2909139512 @default.
- W155442104 hasRelatedWork W2917548861 @default.
- W155442104 hasRelatedWork W2967523176 @default.
- W155442104 hasRelatedWork W2982262558 @default.
- W155442104 hasRelatedWork W3004427030 @default.
- W155442104 hasRelatedWork W3089438654 @default.
- W155442104 hasRelatedWork W3204194913 @default.
- W155442104 hasRelatedWork W766331945 @default.
- W155442104 hasRelatedWork W947644528 @default.
- W155442104 hasRelatedWork W950844934 @default.
- W155442104 isParatext "false" @default.
- W155442104 isRetracted "false" @default.
- W155442104 magId "155442104" @default.
- W155442104 workType "dissertation" @default.