Telerobot instructions

IF you are enrolled in Mechatronics and Multibody Systems 319, please refer to this instruction sheet.

Otherwise, if you are a visitor.......

Follow these instructions to start using the telerobot:

Step 1: Install the software from the Download page

Step 2: Run the "lol login" application (a shortcut should have been provided on your desktop).

Step 3: Log in with your UserID and password. Register to get your own UserID.

Step 4: In the student hallway, select the telerobot task. Press JOIN QUEUE, select your reserved time limit, and acknowledge the dialog box that tells you that the lab is ready. Then press ENTER LAB.

Help on using the Telelabs system is available here.

Step 6: Once you have entered the lab, you will be presented with a screen similar to this:

Making a Move:

Select your desired X, Y, Z, Spin, Tilt, Gripper values.
Press 'Move'. A message will be displayed whilst the Telerobot is moving, and you can also see it moving via the camera interface. When the move has been completed, all users in the experiment will have their controls updated to the current positions.
You can even queue additional moves whilst the Telerobot is moving. Just select where you want the Telerobot to go and press 'Move' - the command will be processed once the current move has finished.

Detailed explanations of the interface follow:

Camera Panel: Provides visual feedback for the Telerobot's table-top, as well as providing controls for the X, Y, Z values.

Select Camera/Zoom Panel: Contains two drop-down menus that allow you to select the camera (and quality) you wish to view with, as well as a level of zoom. Possible choices are:

Camera: X Axis High Quality Motion (high quality streaming video of the area), X Axis Low Quality Motion (low quality streaming video of the area), X Axis Still Images (static images of the area, refreshed every 15 secs).
Zoom: Stretch to Fit (adjusts image size to fit into the controls window), 1x Zoom (original image size), 2x Zoom (image displayed at twice the original resolution).

Users on a slow Internet connection should use the low quality motion or still camera images.
The stretch to fit zoom level is usually appropriate for common Telerobot use, but if you'd like to make a very small movement and want to see its effects, increase the zoom level as appropriate.

Note: There is only one camera available for use currently (the X-Axis camera) - additional cameras are being considered and will be installed at a later point in time.

Current Position Panel: This tells you the current position and orientation of the Telerobot.

X: The distance (in mm) the gripper is from the Y axis. -50 < X < 550
Y: The distance (in mm) the gripper is from the X axis. -50 < Y < 550
Z: The distance (in mm) the gripper is from the table-top. 7 < Z < 450
Spin: Rotation of the gripper (in degrees) about a vertical axis (localised at the X, Y co-ordinates of the gripper). A positive value here means the gripper is rotated anti-clockwise, a negative value means it is rotated clockwise. -89 < Spin < 89
Pitch: Rotation of the gripper (in degrees) about the Y axis. This value cannot be altered using the client controls (change in Pitch is not required for the manipulation of the blocks).
Tilt: Rotation of the gripper (in degrees) about the X axis. -45 < Tilt < 45
State: Tells you the current state of the Telerobot. Common states are: "Ready to move" (ready to receive and process commands), "Executing move" (currently executing some movement/command), "Motor overload" (robot tried to enter a position it cannot attain - try moving the robot back in the opposite direction), and "Light curtain disrupted" (the infra-red security wall in the laboratory room has been breached - the robot is disabled as a safety measure - a staff member will reactivate the robot soon).

Data Error Panel: Tells you whether there was some error in processing the information sent to your computer. This is typically true if your client software is outdated.

Connection Panel: Tells you whether your have a working connection with the Telerobot server.

Position Controls Panel: Allows you to select the values of certain variables as well as submitting the current movement command to the Telerobot.

Spin: Rotation of the gripper (in degrees) about the Z axis.
Tilt: Rotation of the gripper (in degrees) about the X axis.
Gripper: (Open or Close) - states whether you wish to have the gripper opened or closed for the next movement.
Move: When this button is pressed, the current values for X, Y, Z, Spin, Tilt and Gripper are submitted to the Telerobot so that it can move into position.

Note: The Move button will be disabled and greyed-out on some occasions. These are:

Your software is outdated - an error message will appear in the Data Error panel informing you what version you need. Use the Telelabs hallway to update your software. Note: If you believe your software is up-to-date, it may be that a staff member is currently developing the Telerobot software, and so has disabled the client programs from interacting with the server. If this is the case, your program will return to its up-to-date status once the staff member has finished.
Another user is in control of the Telerobot - if the Controller (see Telelabs Controls panel) is not "You can control", then another user has control of the Telerobot. This can be because another person in the room (lab experiment) with you has submitted a command and/or has temporary control over the Telerobot. The usual case however is for the "Hardware controller" to be in control. This means that the Telerobot is being controlled locally (in the laboratory) and remote access is not possible. When local use of the Telerobot is complete, it will be returned to remote access. Note: If you were informed (via a message window) that the Telerobot server is/has shut down, you must quit the lab experiment - the controls will not reactivate in the current session.
You do not have a connection to the Telerobot server (check the connection panel for verification).
The Telerobot's state is such that it can no longer process commands. Some examples of this are when the Light-curtain has been disrupted, or if the Emergency Stop button has been pressed in the laboratory room. A staff member will have been notified of the problem.

Telelabs Controls Panel: Informs you of the amount of time you have left to use the Telerobot (when there is no time left, the next person in the queue may kick you out of the room); tells you who has current control of the Telerobot; allows you to initiate a chat window - so you can talk with other users in the lab experiment; and allows you to Quit the experiment - you will be prompted for confirmation, as well as being asked if you'd like your session's experiment data to be emailed to you.

Miscellaneous: The grid visible on the table-top is comprised of 5x5 squares, each of length and width 100mm. The bottom-left of the grid is thus (X, Y) = (0, 0). Bottom-right = (500, 0). Top-left = (0, 500). Top-right = (500, 500). This may help you when trying to ascertain where the blocks on the table are, and where you'd like the arm to move to.