🚀 go-pugleaf

In article <1990Dec6.232210.2638@sctc.com> smith@sctc.com (Rick Smith) writes:

   >I am interested in finding out information on the development of 6 DOF
   >joysticks by various people.  In particular , I am interested in the
   >manner that the motions of the joystick are converted into a motion for
   >the robot.

The work that was done at JPL was headed up by Dr. Tony Bejczy, the
last number I have for him is (818) 354-4568.  Or, try writing to him
at: 
	Jet Propulsion Laboratory, ms 198-330
	4800 Oak Grove Drive
	Pasadena, California, 91109

Another person you might try to track down is Bill Townsend, who
recently completed a PhD at MIT.  He has done extensive work in this
area and has produced some interested "joystick" designs.

   Ideally, you want the kinematics of the joystick (well, hand controller) to
   match that of the robot. 

Actually, this statement is very far from the truth.  You want your
master arm, i.e. the joy stick, to be constructed in such a fashion
that it is easily operable by the human; and you want the slave arm to
be designed to achieve the required task in the best possible fashion.
Connecting the two is a computer which performs the kinemtic
translation required.  Furthermore, tests done at JPL and elsewhere
have shown that to perform meaningful tasks, force reflection is
required and that time delay from your sensors (cameras, force
sensors, etc) will seriously degrade performance.

gerry
--
gerry roston, field robotics center
robotics institute, carnegie mellon university
pittsburgh, pennsylvania, 15213  (412) 268-6557
gerry@cs.cmu.edu