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From: "Victor B. Naumov" <nau@iias.spb.su>
Subject: Russian Robotics 6/8: 6D Joystick
Message-ID: <MBOYER.95Jul5164747@pellan.ireq-robot.hydro.qc.ca>
Lines: 105
Sender: news@ireq.hydro.qc.ca (Netnews Admin)
Organization: St.-Petersburg Institute for Informatics and Automation, RAN
Date: Wed, 5 Jul 1995 20:47:47 GMT
Approved: mboyer@ireq-robot.hydro.qc.ca, crr@ireq-robot.hydro.qc.ca

                 ACADEMY OF SCIENCES OF RUSSIA
   ST.-PETERSBURG INSTITUTE FOR INFORMATICS AND AUTOMATION
                         ROBOTICS LAB.
                     of prof.F.M.Kulakov


                         6-D Joystick
                        --------------



Fields of Application
---------------------

- Semiautomatic control of manipulators, means of transport, flying
  and floating platforms etc.

- Realization of complex computer graphics.


Description of function and handling
-------------------------------------

The inputs of the 6-D joystick are forces and torques, applied to it
by the operator.  They are transformed into 6 analog electrical
signals by strain gauge sensors mounted on the joystick construction.
Three of them are proportionate to cartesian projections of applied
force.  The remaining 3 signals are proportionate to cartesian
projections of applied torque.  These signals are transformed into
digital form by special hardware [ADC? -IS] and are used as control
signals.

For instance, in the case of the semiautomatic manipulator control,
3 cartesian projections of applied force set 3 components of linear
velocity for the manipulator's gripper and the 3 cartesian projections
of applied to torque set 3 components of angular velocity.

In case of computer graphics, these signals are used for drawing
lines with changes in thickness.

For this purpose, the longitudinal and transversal components of
applied force are used to set the values of the line's vertical
components, while applied force is used to set the thickness of the
line.


                             Technical data

----------------------------------------------------------------------
     Items and                       Specification values
units of measurement         X       Y       Z       Mx      My     Mz
----------------------------------------------------------------------

Force range,     N         150     150     150
Torque range,   N*m                                   5      5       5

Ultimate load, %            25      25      10       25     10      10

Sensitivity, mV/N        0,041   0,041   0,041 
             mV/N*m                                0,26   1,96    1,84

----------------------------------------------------------------------
 Boundary dimensions (mm), diameter:    70
                             height:   120

 Working temperature range (C), low:   -60
                               high:   +70

 Weight (g):                           800
--------------------------------------------------------------------------

Hardware
--------

- controller to form digital signals for control and other functions
- controller for connection with PC


Software
--------

Software for support of joystick control and exchange with PC.

Applied software support of manipulator and graphics control.

Applied software support of parameter control of graphic primitives.

Advantages

- Interdependency of output signals is absent completely
- Working temperature range is very large
- Price is less than that of similar devices while maintaining 
  performance equal to or exceeding them.

Orders on joystick are accepted at any quantity and they are carried
out by plants of the former Military Industry Complex.

   6-D joysticks are used by Scientific Industrial Union  "ENERGIA"
and other space and industrial firms.


--
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 Submissions:                 Meta-discussions/information:
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