Interactive features for robot viewers

Authors:
Thomas Hulin;Katharina Hertkorn;Carsten Preusche
Affiliations:
Institute of Robotics and Mechatronics, DLR (German Aerospace Center), Wessling, Germany;Institute of Robotics and Mechatronics, DLR (German Aerospace Center), Wessling, Germany;Institute of Robotics and Mechatronics, DLR (German Aerospace Center), Wessling, Germany
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Year:
2012

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Abstract

Robot viewers are an important tool for robot developers, programmers and users. This article presents interactive visual features that can be used for robot viewers, including rotating arrows for torque controlled serial robots and special positioned textfields for numerically displaying joint parameters. The presented features support intuitive interaction modes such that the displayed content can be switched or their visibility can be toggled. With these features the DLR SeRo-Viewer has been developed, which aims at minimizing the efforts for integrating new robots in the visualization system, and at the same time being flexible enough to visualize various robotic systems. The SeRo-Viewer has already been successfully applied on several robotic systems.