WO2014116126A1 - Control device with 6 degrees of freedom - Google Patents

Control device with 6 degrees of freedom Download PDF

Info

Publication number
WO2014116126A1
WO2014116126A1 PCT/PL2013/000149 PL2013000149W WO2014116126A1 WO 2014116126 A1 WO2014116126 A1 WO 2014116126A1 PL 2013000149 W PL2013000149 W PL 2013000149W WO 2014116126 A1 WO2014116126 A1 WO 2014116126A1
Authority
WO
WIPO (PCT)
Prior art keywords
freedom
degrees
control device
control
knob
Prior art date
Application number
PCT/PL2013/000149
Other languages
French (fr)
Inventor
Tomasz KRAKÓWKA
Mariusz Kozak
Original Assignee
Przemysłowy Instytut Automatyki i Pomiarów PIAP
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Przemysłowy Instytut Automatyki i Pomiarów PIAP filed Critical Przemysłowy Instytut Automatyki i Pomiarów PIAP
Priority to RU2013154970/08A priority Critical patent/RU2013154970A/en
Publication of WO2014116126A1 publication Critical patent/WO2014116126A1/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04737—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks with six degrees of freedom
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0338—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce

Definitions

  • the invention relates to a control device with 6 degrees of freedom, intended for the control of operative elements of various types of devices.
  • the device is particularly useful for the control of operative ele- ments of mobile devices, such as robots, in the case of which, the control of operative elements, for instance a manipulator's end, is carried out from remote control stations.
  • US patent description No. US 2010019890 (A1 ) discloses a haptic device consisting of a base, an operative element, a structure with parallel kinematics located between the base and the operative element, ensuring at least 3 degrees of freedom, including 3 translational degrees of freedom of the operative element, and at least one passive element compensating gravitation, adapted to exert forces and/or moments on the structure with parallel kinematics, in order to compensate, at least partially, the forces and/or moments originating from gravitation in at least one of the three translational degrees of freedom.
  • WO 2008003416 discloses an active grab for a haptic device with a structure with parallel kinematics, ensuring at least 3 degrees of freedom, including 3 translational degrees of freedom, with a first contact surface adapted for contact with the first part of a user's hand and a second contact surface adapted for contact with the second part of a user's hand, the second part of the hand being able to move in relation to the first part of the hand.
  • the devices mentioned above have large overall dimensions and weight, practically preventing them from being used for the control of elements by an operator, who should hold the control device in his/her hands in the case of mobile devices.
  • the aim of the invention is to develop a control device with small overall dimensions and weight and which may be held in the operator's hands during work.
  • the control device with 6 degrees of freedom intended for the control of operative elements of various types of devices, consists of a knob connected using six support arms that are connected rotationally with six linear actuators located symmetrically on the base and connected to it by articulation.
  • FIG. 1 shows a perspective view of the device according to the invention
  • Fig. 2 shows a fragment of the device with marked movements of the device components.
  • the control device with 6 degrees of freedom intended for the control of operative elements of various types of devices, consists of a knob 1 connected using six support arms 3 connected rotationally with six linear actuators 4 located symmetrically on the base 2 and connected to it by articulation. Movement of the knob 1 causes a displacement of the actuators 4, measured using an electronic unit (not shown).
  • the knob 1 may be operated in 6 degrees of freedom, allowing for control of the location and orientation of the operating end of the robot's manipulator.
  • the actuators 4 are controlled so as to exhibit a defined resistance while the knob is tilted from its neutral position. This enables control of the force and moment needed for tilting of the knob 1. Thanks to this, an intuitive transfer of information to the operator is possible, for instance when the manipulator's end encounters an obstacle - if the manipulator cannot perform a movement, the operator cannot tilt the knob in a direction forcing an impossible movement of the manipulator.

Abstract

A control device with 6 degrees of freedom, intended for the control of operative elements of various types of devices, consists of a knob (1 ) connected using six support arms (3) that are connected rotationaly with six linear actuators (4) located symmetrically on the base (2) and connect¬ ed to it by articulation.

Description

Control device with 6 degrees of freedom
The invention relates to a control device with 6 degrees of freedom, intended for the control of operative elements of various types of devices.
The device is particularly useful for the control of operative ele- ments of mobile devices, such as robots, in the case of which, the control of operative elements, for instance a manipulator's end, is carried out from remote control stations.
US patent description No. US 2010019890 (A1 ) discloses a haptic device consisting of a base, an operative element, a structure with parallel kinematics located between the base and the operative element, ensuring at least 3 degrees of freedom, including 3 translational degrees of freedom of the operative element, and at least one passive element compensating gravitation, adapted to exert forces and/or moments on the structure with parallel kinematics, in order to compensate, at least partially, the forces and/or moments originating from gravitation in at least one of the three translational degrees of freedom.
International patent application No. WO 2008003416 (A1 ) discloses an active grab for a haptic device with a structure with parallel kinematics, ensuring at least 3 degrees of freedom, including 3 translational degrees of freedom, with a first contact surface adapted for contact with the first part of a user's hand and a second contact surface adapted for contact with the second part of a user's hand, the second part of the hand being able to move in relation to the first part of the hand.
Considering their construction, the devices mentioned above have large overall dimensions and weight, practically preventing them from being used for the control of elements by an operator, who should hold the control device in his/her hands in the case of mobile devices.
The aim of the invention is to develop a control device with small overall dimensions and weight and which may be held in the operator's hands during work.
According to the invention, the control device with 6 degrees of freedom, intended for the control of operative elements of various types of devices, consists of a knob connected using six support arms that are connected rotationally with six linear actuators located symmetrically on the base and connected to it by articulation.
An embodiment of the subject of the invention is illustrated in the Figures, where Fig. 1 shows a perspective view of the device according to the invention, and Fig. 2 shows a fragment of the device with marked movements of the device components.
The control device with 6 degrees of freedom, intended for the control of operative elements of various types of devices, consists of a knob 1 connected using six support arms 3 connected rotationally with six linear actuators 4 located symmetrically on the base 2 and connected to it by articulation. Movement of the knob 1 causes a displacement of the actuators 4, measured using an electronic unit (not shown). The knob 1 may be operated in 6 degrees of freedom, allowing for control of the location and orientation of the operating end of the robot's manipulator. The actuators 4 are controlled so as to exhibit a defined resistance while the knob is tilted from its neutral position. This enables control of the force and moment needed for tilting of the knob 1. Thanks to this, an intuitive transfer of information to the operator is possible, for instance when the manipulator's end encounters an obstacle - if the manipulator cannot perform a movement, the operator cannot tilt the knob in a direction forcing an impossible movement of the manipulator.
Similarly, it is possible to increase the tilting resistances of the knob 1 with an increase in the load of the manipulator's operating end.

Claims

Claim
A control device with 6 degrees of freedom, intended for the control of operative elements of various types of devices, characterised in that it consists of a knob (1 ) connected using six support arms (3) that are connected rotationaliy with six linear actuators (4) located symmetrically on the base (2) and connected to it by articulation.
PCT/PL2013/000149 2013-01-25 2013-11-27 Control device with 6 degrees of freedom WO2014116126A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
RU2013154970/08A RU2013154970A (en) 2013-01-25 2013-11-27 6-DEGREE CONTROL DEVICE

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
PLP.402553 2013-01-25
PL402553A PL225105B1 (en) 2013-01-25 2013-01-25 Apparatus for controlling with a scale of six degrees of freedom

Publications (1)

Publication Number Publication Date
WO2014116126A1 true WO2014116126A1 (en) 2014-07-31

Family

ID=49950017

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/PL2013/000149 WO2014116126A1 (en) 2013-01-25 2013-11-27 Control device with 6 degrees of freedom

Country Status (3)

Country Link
PL (1) PL225105B1 (en)
RU (1) RU2013154970A (en)
WO (1) WO2014116126A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107066028A (en) * 2017-06-09 2017-08-18 河北工业大学 The grand dynamic sextuple controller of single control handle
US20210162603A1 (en) * 2017-05-19 2021-06-03 Kawasaki Jukogyo Kabushiki Kaisha Manipulation device and manipulation system

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4216467A (en) * 1977-12-22 1980-08-05 Westinghouse Electric Corp. Hand controller
US4641123A (en) * 1984-10-30 1987-02-03 Rca Corporation Joystick control
JPS62235615A (en) * 1986-04-04 1987-10-15 Mitsubishi Precision Co Ltd Six-axial control steering device
US5053687A (en) * 1988-03-21 1991-10-01 Inria Institut National De Recherche En Information Et En Automotique Articulated device, for use in particular in robotics
US6593912B1 (en) * 2000-03-21 2003-07-15 International Business Machines Corporation Electro-mechanical transducer for six degrees of freedom input and output
WO2008003416A1 (en) 2006-07-03 2008-01-10 Force Dimension S.A.R.L. Active gripper for haptic devices
US20080161829A1 (en) * 2006-12-27 2008-07-03 Mako Surgical Corp. Apparatus and method for providing an adjustable positive stop in space
US20100019890A1 (en) 2006-07-03 2010-01-28 Force Dimension S.A.R.L. Haptic Device Gravity Compensation

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4216467A (en) * 1977-12-22 1980-08-05 Westinghouse Electric Corp. Hand controller
US4641123A (en) * 1984-10-30 1987-02-03 Rca Corporation Joystick control
JPS62235615A (en) * 1986-04-04 1987-10-15 Mitsubishi Precision Co Ltd Six-axial control steering device
US5053687A (en) * 1988-03-21 1991-10-01 Inria Institut National De Recherche En Information Et En Automotique Articulated device, for use in particular in robotics
US6593912B1 (en) * 2000-03-21 2003-07-15 International Business Machines Corporation Electro-mechanical transducer for six degrees of freedom input and output
WO2008003416A1 (en) 2006-07-03 2008-01-10 Force Dimension S.A.R.L. Active gripper for haptic devices
US20100019890A1 (en) 2006-07-03 2010-01-28 Force Dimension S.A.R.L. Haptic Device Gravity Compensation
US20080161829A1 (en) * 2006-12-27 2008-07-03 Mako Surgical Corp. Apparatus and method for providing an adjustable positive stop in space

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210162603A1 (en) * 2017-05-19 2021-06-03 Kawasaki Jukogyo Kabushiki Kaisha Manipulation device and manipulation system
US11826900B2 (en) * 2017-05-19 2023-11-28 Kawasaki Jukogyo Kabushiki Kaisha Manipulation device and manipulation system
CN107066028A (en) * 2017-06-09 2017-08-18 河北工业大学 The grand dynamic sextuple controller of single control handle

Also Published As

Publication number Publication date
PL225105B1 (en) 2017-02-28
RU2013154970A (en) 2015-06-20
PL402553A1 (en) 2014-08-04

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