Augmented Reality Control of the Telerobot 2003

Block Modeling

1. 
   Press the ‘Add Model’ button to add a model to the workspace (see figure --a).
   
2. 
   To select a prism click on the white select point (see figure –b)
   
3. 
   Once selected the model can be manipulated by clicking on any of the control points. These points include the white circles and the horizontal and vertical lines extending over the workspace.
   
4. 
   To determine the action performed by a control point, place the mouse over the control point and the cursor will change to a symbol indicating the action it performs. This can be seen in figures – d where a rotational cursor is diplayed.
   
5. 
   While being manipulated the model turns yellow.
   
6. 
   To cease manipulation, release the mouse button.
   
7. 
   To make the robot pick up the block, press the ‘Execute button’
   
8. 
   In order to model multiple blocks keep adding models to the workspace and positioning them over the blocks they are to represent (see figure –k). To pick up a single block, select the appropriate model and press the ‘Execute button’.
   

(a)

(c)

(f)

(h)

(i)