Software Design

The graphical user interface (GUI) is shown above. The top left area contains the buttons to control each direction of rotation. The bottom left area provides several options. The type of input shaper can be selected; a pre-planned trajectory can be uploaded and executed; velocity and position data can be recorded and downloaded; and the control directions can be changed to a different coordinate system. The right side of the GUI displays the real-time position of the cherrypicker from both top and side views. The angle of each joint is displayed, and dynamic figures provide tele-operators with an image of the cherrypicker configuration. The machine vision output is also displayed.

The GUI can be accessed remotely through a VNC connection so that anyone with internet access can operate the cherrypicker. Tele-operators can also view the cherrypicker with a live webcam feed.