Project Title:

Force-Reflecting Joysticks for Manipulator Control

05.01-3600
Force-Reflecting Joysticks for Manipulator Control
Meridian Corporation
4300 King Street, Suite 400
Alexandria, VA 22302
Mark D. Bryfogle  (703-998-3600)
JPL -- NAS7-1024

Abstract:

	 A need exists for human control of manipulators in highly unstructured environments.
The joystick is a key element in the interface between man and machine. A primary
objective is to translate forces experienced by the manipulator as directly as possible
to the joystick; a direct relationship significantly increases efficiency. Several
force reflecting joysticks are in existence. This study dealt with a new, efficient,
low-priced, force-reflecting joystick by eliminating the deficiencies noted in the
existing mechanisms. This joystick is based upon the six degree-of-freedom Stewart
platform. High fidelity in force feedback will be achieved through the installation
of a force-measuring cell in the joystick handgrip.
	Phase I research demonstrated a kinematic design which allowed translational motion
within a 25.4 cm cube and orientational capability of 45 degrees from center about
each of three coordinate axes. This motion capability occurs with no leg interference
or singularities and with reasonable actuator loadings. Phase I also demonstrated
real-time computational control capability.

Potential Commercial Application:

Potential Commercial Application: Potential applications include the control of manipulators
in space, hot labs, hazardous waste sites, and interfacing with computer graphic
systems.