DEVELOPMENT OF A COMPACT 6 DEGREE OF FREEDOM FORCE REFLECTING HAND CONTROLLER WITH CUEING AND MULTIPLE OPERATING MODES

Award Information
Agency:
National Aeronautics and Space Administration
Amount:
$488,800.00
Program:
SBIR
Contract:
N/A
Solitcitation Year:
N/A
Solicitation Number:
N/A
Branch:
N/A
Award Year:
1990
Phase:
Phase II
Agency Tracking Number:
10592
Solicitation Topic Code:
N/A
Small Business Information
Cybernet Systems Corp.
820 Heatherway, Ann Arbor, MI, 48104
Hubzone Owned:
N
Woman Owned:
N
Socially and Economically Disadvantaged:
N
Duns:
N/A
Principal Investigator
 Dr Charles J Jacobus
 () -
Business Contact
Phone: () -
Research Institution
N/A
Abstract
TELE-AUTONOMOUS CONTROL OF MANIPULATOR(S) PRESUPPOSES THE EMPLOYMENT OF SOME TYPE OF PHYSICALLY ACTIVATED OR ACTUATED CONTROLLER AT THE HUMAN INFTERFACE. THE RESEARCH PROPOSED HEREIN ADDRESSES THE DESIGN AND PROTOTYPING OF A SIX DEGREE OF FREEDOM CARTESIAN COORDINATE HAND CONTROLLER. THE DEVICEESSENTIALLY IS AN XYZ STAGE TO WHICH A THREE-ROLL WRIST AND HANDGRIP IS AFFIXED. THE SIX DEGREES OF FREEDOM ARE TRANSDUCED AND COMMUNICATED TO THE SERVO ELECTRONICS OF THE MANIPULATOR. TO AID THE OPERATOR IN ACHIEVING TELE-PRESENCE, THE DEVICE WILL EMPLOY FORCE REFLECTION BACK TO THE OPERATOR, APPROPRIATELY SCALED AND WITH A SMALL TIME DELAY. AN INVERSE DYNAMICS ROBOT CONTROL METHODOLOGY WILL BE EMPLOYED IN THE HAND CONTROLLER TO RESOLVE THE HAND CONTROLLER'S ACTUATING TORQUES/FORCES SUCH THAT THE RESULTANT FORCE AND TORQUE AT THE OPERATOR'S HAND IS A SCALED VERSION OF THOSE REQUIRED TO PUT THE MANIPULATOR THROUGH THE DESIRED MOVEMENTS, REGARDLESS OF MANIPULATOR POSE AND PAYLOAD INERTIA. THIS PROPOSAL MAY OF INTEREST TO SBIR TOPIC 05.03 AS WELL.

* information listed above is at the time of submission.

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