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Proceedings Paper

Implementation of a six-degree-of-freedom manual controller with passive force feedback
Author(s): Carol C. Will; Carl D. Crane III; Phillip Adsit
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Paper 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.

Paper Details

Date Published: 1 December 1995
PDF: 8 pages
Proc. SPIE 2590, Telemanipulator and Telepresence Technologies II, (1 December 1995); doi: 10.1117/12.227938
Show Author Affiliations
Carol C. Will, Univ. of Florida (United States)
Carl D. Crane III, Univ. of Florida (United States)
Phillip Adsit, Univ. of Florida (United States)

Published in SPIE Proceedings Vol. 2590:
Telemanipulator and Telepresence Technologies II
Marcos Salganicoff, Editor(s)

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