Balance-ArmTablet Computer Stand for Robotic Camera Control Peter Turpel 1 , Bing Xia, Xinyi Ge, Shuda Mo, and Steve Vozar 2 { 1 [email protected], 2 [email protected]} Project Overview Traditional methods of camera orientation control for teleoperated robots involve gamepads or joysticks with the motion of analog sticks used to control the camera direction. However, this control scheme often leads to unintuitive mappings between user input and camera actuator output. This paper describes a master-slave style camera position and orientation controller with a tablet computer mounted on a balance-arm (acting as the control master), showing a video feed from the robot, affording the user a one-to-one mapping to control the viewpoint of a camera mounted on a robot arm (the slave). In this way, the tablet computer acts as a virtual window to the robot’s workspace. Master Arm The master arm controller uses 5 sensors to measure the 5 degrees of freedom of the master arm. With an encoder in the base and two accelerometers on the arm, the 3D position of the tablet computer can be calculated. Two encoders measure the pan and tilt orientation of the tablet. The tablet displays a 3D visualization of the slave arm as well as video from the slave. Slave Arms The master controller only specifies the desired camera position and ori- entation, so any slave arm with a suitable workspace could be controlled with this input system by calculating the inverse kinemat- ics. One arm used for demonstra- tion of this control system is shown above. A different arm is shown in the photo in the box to the right. Software and Data Flow The microcontroller reads in analog data from the sen- sors, which is transmitted via wireless radio to a laptop. A Java program calculates the position and orientation of the master arm and the inverse kinematics for the slave arm. A webcam on the slave is connected to the laptop, and the video feed and slave arm visualization is broad- cast to the tablet to be viewed by the user. Master Arm Characterization The performance of the master arm was characterized with respect to kinematic accuracy and system delay to determine whether it could be used as a viable controller for a slave robot arm. Summary of characterization of master arm performance. Error Type Average Maximum (Worst-Case) Position Error 1.2cm 2.4cm Angular Error 0.7 ◦ 2.2 ◦ Filter Delay 0.17s 0.23s Processing Delay 0.06s 0.08s Ongoing Work This project was originally conceived as a standalone proof-of-concept, but in the future it may be integrated into other studies on improving human-robot interaction currently underway. The slave arm is being redesigned for greater reach and load capacity, as well as an integrated camera mount and new gripper. The new slave arm will be mounted on a mobile chassis and used in a series of trials comparing the ease of use of various controllers. This will allow a quantification of any performance advantages that the system gives the user. References [1] G. S. Gupta, S. C. Mukhopadhyay, C. H. Messom, and S. N. Demidenko, “Master-slave control of a teleoperated anthropomorphic robotic arm with gripping force sensing,” IEEE Transactions on Instrumentation and Mea- surement, vol. 55, no. 6, pp. 2136–2145, December 2006. [2] J. Chen, E. Haas, and M. Barnes, “Human performance issues and user interface design for teleoperated robots,” Systems, Man, and Cybernetics, Part C: Applications and Reviews, IEEE Transactions on, vol. 37, no. 6, pp. 1231–1245, 2007. Acknowledgements This project was part of the mechanical en- gineering senior design course at the Uni- versity of Michigan. We would like to thank Professor Dawn Tilbury for providing us with the resources and guidance we needed to complete this project, section instructor Professor Shorya Awtar for his help solv- ing design challenges, and Mr. Bob Coury, Mr. Mark Cressey, and Mr. Toby Don- ajkowski for their help fabricating and as- sembling the final prototype.
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Balance-ArmTabletComputerStandfor
RoboticCameraControlPeter Turpel1, Bing Xia, Xinyi Ge, Shuda Mo, and Steve Vozar2
{[email protected], [email protected]}
Project OverviewTraditional methods of camera orientation control for teleoperated robots involve gamepads or joystickswith the motion of analog sticks used to control the camera direction. However, this control scheme often leads tounintuitive mappings between user input and camera actuator output. This paper describes a master-slavestyle camera position and orientation controller with a tablet computer mounted on a balance-arm (acting asthe control master), showing a video feed from the robot, affording the user a one-to-one mapping to controlthe viewpoint of a camera mounted on a robot arm (the slave). In this way, the tablet computer acts as a virtualwindow to the robot’s workspace.
Master Arm
The master arm controller uses 5 sensors to measure the5 degrees of freedom of the master arm. With anencoder in the base and two accelerometers on the arm,the 3D position of the tablet computer can be calculated.Two encoders measure the pan and tilt orientation of thetablet. The tablet displays a 3D visualization of theslave arm as well as video from the slave.
Slave Arms
The master controller only specifiesthe desired camera position and ori-entation, so any slave arm witha suitable workspace could becontrolled with this input systemby calculating the inverse kinemat-ics. One arm used for demonstra-tion of this control system is shownabove. A different arm is shown inthe photo in the box to the right.
Software and Data FlowThe microcontroller reads in analog data from the sen-sors, which is transmitted via wireless radio to a laptop.A Java program calculates the position and orientation ofthe master arm and the inverse kinematics for the slavearm. A webcam on the slave is connected to the laptop,and the video feed and slave arm visualization is broad-cast to the tablet to be viewed by the user.
Master Arm Characterization
The performance of the master arm was characterized with respect tokinematic accuracy and system delay to determine whether it could beused as a viable controller for a slave robot arm.
Summary of characterization of master arm performance.
Error Type Average Maximum (Worst-Case)
Position Error 1.2cm 2.4cmAngular Error 0.7◦ 2.2◦
Filter Delay 0.17s 0.23sProcessing Delay 0.06s 0.08s
Ongoing WorkThis project was originally conceived as a standalone proof-of-concept, but in the future it may be integrated intoother studies on improving human-robot interaction currently underway. The slave arm is being redesignedfor greater reach and load capacity, as well as an integrated camera mount and new gripper. The new slave arm willbe mounted on a mobile chassis and used in a series of trials comparing the ease of use of various controllers. Thiswill allow a quantification of any performance advantages that the system gives the user.
References[1] G. S. Gupta, S. C. Mukhopadhyay, C. H. Messom, and S. N. Demidenko,
“Master-slave control of a teleoperated anthropomorphic robotic arm withgripping force sensing,” IEEE Transactions on Instrumentation and Mea-surement, vol. 55, no. 6, pp. 2136–2145, December 2006.
[2] J. Chen, E. Haas, and M. Barnes, “Human performance issues and userinterface design for teleoperated robots,” Systems, Man, and Cybernetics,Part C: Applications and Reviews, IEEE Transactions on, vol. 37, no. 6,pp. 1231–1245, 2007.
AcknowledgementsThis project was part of the mechanical en-gineering senior design course at the Uni-versity of Michigan. We would like to thankProfessor Dawn Tilbury for providing uswith the resources and guidance we neededto complete this project, section instructorProfessor Shorya Awtar for his help solv-ing design challenges, and Mr. Bob Coury,Mr. Mark Cressey, and Mr. Toby Don-ajkowski for their help fabricating and as-sembling the final prototype.
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