B.4 Connection to Real Devices B.5 Multiple Device Integration B.3 Hand Commands B.2 Manipulator Commands B Rshell Commands

Directing attention to onset and ooset of image events for eye-head movement control. 11] David Coombs and Christopher Brown. Real-time smooth pursuit tracking for a moving binocular head. The agile eye: a high-prformance three-degree-of-freedom camera-orienting device.tions to peripheral image motion using a head/eye platform. Wor delays interpretation of the next command until any of the named event ags in list name : : : have been set. wand name : : : Wand delays interpretation of the next command until all of the named event ags in list name : : : have been set. An event can be automatically set after the R-shell commands (hand, shape, grasp, un-grasp, arm, loc, rot, tran or align) by adding the command line suux \:e i " which speciies the event ag to be set by the controller when the motion indicated by the command is completed. grasp ^] f] if f is preexed by \^", the value of f will be taken to be an increment to the current desired reeex forces. This can be used to tighten or loosen the grasp. If the preex \^" is omitted, the value is taken to be absolute. The ungrasp command is used to terminate force control and expand the hand until all forces become 0. Manipulator and hand instances created in R-shell are just images of the real world. The commands previously described create and modify this image of the real manipulator or hand. In order to cause changes to an actual device, this image must be connected to the real device. When devices are physically connected to R-shell in this way, R-shell commands which aaect the connguration and position of the manipulator or hand internally will now also aaect the connguration of the physical device. Once connection is established, data in the manipulator or hand controller and in R-shell can be shared. In this way, R-shell has access to the real values generated in the controller and can use them for its own purposes. connect-e,-s,-b] instance-name server-name] This command establishes a physical link from R-shell to the device via software called the target server. With this physical link established, commands that aaect the con-guration of the manipulator or hand internally will now also cause motion of the physical device. Supported communications methods are:-e (ethernet sockets),-s (serial link),-b (backplane-shared memory). If the-e option is speciied, the parameter server-name must also be speciied. disconnect instance-name …