A graphical operations interface for modular surface systems

This paper presents the design and implementation of algorithms for a new graphical operations interface system specifically adapted to operating modular reconfigurable articulated surface systems. Geometric models of heterogeneous robot modules may be connected and disconnected in this interface via drag-and-drop interaction. The resulting assemblies may further be kinematically operated through onscreen direct manipulation. The system maintains a reduced coordinate kinematic model for stability, accuracy, and performance. Key algorithms are presented to evolve this model as the user changes the assembled module topology. Though the presented algorithms are generic, application examples are given primarily for a simulation of NASA/JPL´s reconfigurable TriATHLETE system for Lunar exploration. A second application example with a modular robot from the research literature is also included as a demonstration.