Implementation of a six-degree-of-freedom manual controller with passive force feedback

Carol C. Will; Carl D. Crane III; Phillip Adsit

doi:10.1117/12.227938

1 December 1995 Implementation of a six-degree-of-freedom manual controller with passive force feedback

Carol C. Will, Carl D. Crane III, Phillip Adsit

Proceedings Volume 2590, Telemanipulator and Telepresence Technologies II; (1995) https://doi.org/10.1117/12.227938
Event: Photonics East '95, 1995, Philadelphia, PA, United States

Abstract

Force reflective controllers can be divided into two classes; active and passive with the most common being active. Active force-feedback controllers are prone to self-actuation which can generate unintended commands and may injure the user. A six-degree-of-freedom positional input device was designed and constructed that was capable of providing force-feedback passively through the use of six magnetic hysteresis brakes. Special hardware and control strategies were developed to account for some of the limitations of a passive system and the characteristics of hysteresis brakes. The force-feedback input device has been interfaced to a six-degree-of-freedom robot to perform a variety of tasks. Initial research was conducted with a peg-in-hole task. Future research is to include contour following and bead-on-wire tests. Initial results indicated that force-feedback may only be an improvement in situations where visual cues are not clear, and may actually be a hindrance when a clear line of sight exists.

Citation Download Citation

Carol C. Will, Carl D. Crane III, and Phillip Adsit "Implementation of a six-degree-of-freedom manual controller with passive force feedback", Proc. SPIE 2590, Telemanipulator and Telepresence Technologies II, (1 December 1995); https://doi.org/10.1117/12.227938

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