Haptic Integration of IBM Manipulator

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Haptic Integration of IBM Manipulator
Adrián Cuadra, Electrical Engineering Krista
Hirasuna, Electrical Engineering Carol Reiley,
Computer Engineering
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Outline

• Definition
• Background
• Motivation
• Current Project
• Status Report

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Definition

• Derived from Greek word haptikos
• Being able to come into contact with
• Provide environment to explore through direct
  interaction with senses
• Force Feedback

C. Reiley-Haptic Technology
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Uses of Haptic Technology

• Minimally invasive surgery
• Underwater Robotics
• Space exploration

C. Reiley-Haptic Technology
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Motivation

• Handle fragile/dangerous items
• No limitations to its size
• More control and precision

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Santa Clara Haptics Team

• Six engineers
• First of its kind
• Slated for completion June2004
• 1982 IBM 7545 arm
• 6 DoF
• 3000 for project funding

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Objective project goals -- CAROL

• Pick up objects of different texture and be able
  to feel them using haptic feedback.

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Project Goals / Objectives/REQS -- CAROL

• Main Goals
• Four Main Objectives
• Build robotic gripper with ability to sense
  applied forces
• Build human interface controller that gives user
  a sense of what the robot is feeling
• Bypass existing controller with a new haptic
  controller
• Integrate all systems into a working haptic device

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Robot Features and SchematicsIBM 7545

• How it works
• Gross movements

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USE Case Diagram
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Gripper/HIC Solution

• Universal for Gripper and HIC
• Linear
• Driven by DC motor
• Machined from Aluminum

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Block Diagram Haptic Loop
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Motor Driver -- RobotEQ

• High current DC motor driver
• Past motor drivers unsuccessful (Roverwerx)
• New product with great reviews
• Built-in control options
• Overpriced

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Motor Driver LMD18200

• Recommended by SCU Professors
• Used in past mechatronics classes
• Low cost (free sample)
• Prototype board created by Pascal Stang
• PWM speed, direction, and EMF brake controls
• Power output as high as 50V 3A continuous, or 6A
  peak

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Force Sensor Requirements and Tradeoffs

• Accuracy
• Universality
• Practicality
• Linearity

• Force Sensing Resistors (FSR)
• Strain Gauge
• Gas Pressure Sensors
• Others

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FSR Development

• Design 1 Simple Voltage Divider

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FSR Solution

• Wilson Current Mirror
• Linear
• Used for wide load swings
• Define our own range

R
FSR
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STK 500/ATMEGA 16-- CAROL

• Pros
• Cheaper
• Free Compilers
• Support Libraries
• Cons
• Harder to use, not as documented
• Written in C so harder for rising seniors

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Where we are --- timeline
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What we need to do
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Possible obstacles ???
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Component Statechart
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Tests and Demos?
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Current Status

• Design Proposal finished and reviewed
• Prototype of gripper finished
• Materials ordered
• Implementation
• Design Review in two weeks

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Project Challenges
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Future Implementation EXTRAS

• Video cameras
• Joystick replaced by body based device
• Interchangeable grippers
• Extra Degrees of Freedom

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Conclusions, Questions, Suggestions?
C. Reiley-Haptic Technology