Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Hap

tic E

nhan

cem

ent o

f Ope

rato

r C

apab

ilitie

s in

Hyd

raul

ic

Equi

pmen

t

Mat

thew

Kon

tz

Adv

isor

: Way

ne B

ook

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Hap

tics

Hap

tic (a

dj.):

Of o

r rel

atin

g to

the

sens

e of

touc

h;

tact

ileH

aptic

robo

tics o

r Hap

tics:

usi

ng a

robo

t to

ar

tific

ially

pro

duce

tact

ile se

nsat

ions

such

as

text

ure,

or s

tiffn

ess

Oth

er e

xam

ples

: mas

s, vi

scou

s dam

per,

sprin

gH

aptic

s can

be

used

to in

terf

ace

with

a p

urel

y vi

rtual

wor

ld (v

irtua

l rea

lity)

Hap

tics c

an a

lso

man

ipul

ate

a re

mot

e de

vice

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Hyd

raul

ics

Hyd

raul

ics:

usi

ng fl

uid

pres

sure

and

flo

w to

supp

ly m

echa

nica

l wor

kH

ydra

ulic

s act

uatio

n is

fast

, stif

f an

d ha

s a h

igh

pow

er to

mas

s rat

ioH

igh

forc

e to

spee

d ra

tioH

ydra

ulic

s are

wid

ely

used

in

indu

stry

and

hea

vy m

achi

nery

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Mot

ivat

ion

Trad

ition

al h

eavy

equ

ipm

ent i

s con

trolle

d by

man

ual v

alve

sEl

ectro

hydr

aulic

val

ves n

ow a

llow

flex

ible

el

ectro

nic

cont

rol o

f flu

id p

ower

syst

ems

Hap

tic fe

edba

ck is

a w

ay to

enh

ance

op

erat

or c

ontro

l of h

ydra

ulic

dev

ices

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Bac

kgro

und

Res

earc

h ha

s bee

n do

ne w

ith h

aptic

con

trol

of h

ydra

ulic

robo

ts a

nd e

xcav

ator

sH

aptic

con

trol o

f exc

avat

ors

Mat

ched

impe

danc

e co

ntro

l –Sa

lcud

ean

Slid

ing

mod

e co

ntro

ller –

Ngu

yen

and

Ha

Hap

tic c

ontro

l of h

ydra

ulic

robo

tsH

uman

forc

e ex

tend

er –

Kaz

eroo

niTe

leop

erat

ion

of h

ydra

ulic

robo

ts –

Boo

k

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Proj

ect O

verv

iew

Expe

rimen

tal d

evic

esR

emot

e m

anip

ulat

or: H

AL

(hyd

raul

ical

ly

actu

ated

lifte

r)H

aptic

dis

play

: PH

AN

TOM

Pre

miu

m 1

.5Pr

oces

s Con

trol

Sepa

rate

com

pute

rs c

ontro

lling

eac

h de

vice

Inte

r-pr

oces

s com

mun

icat

ion

over

the

loca

l ar

ea n

etw

ork

usin

g U

DP

Inte

rnet

pro

toco

l

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

The

PHA

NTO

MH

aptic

Dis

play

Thre

e co

lloca

ted

mot

ors a

nd a

ngle

enc

oder

sTh

ree

angl

e en

code

rs o

n th

e st

ylus

Impe

danc

e de

vice

(a

s opp

osed

to a

dmitt

ance

)

Gho

st S

oftw

are

Low

leve

l con

trol

Virt

ual h

aptic

eff

ects

Dire

ct fo

rce

effe

cts b

ased

on

posi

tion

mea

sure

men

ts.

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

The

HA

L/Fo

rklif

t tru

ckV

ertic

al A

xis

Act

uate

d by

hyd

raul

ic c

ylin

der

Posi

tion

sens

or a

nd lo

ad c

ell

Hor

izon

tal A

xis

Act

uate

d by

a ro

tary

hyd

raul

ic m

otor

Posi

tion

sens

or a

nd n

o fo

rce

feed

back

Prox

imity

sens

or w

as a

dded

Sign

ifica

nt b

ackl

ash

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Issu

es

Hap

tic te

leop

erat

ion

of h

ydra

ulic

equ

ipm

ent

Erro

r gen

erat

ed fo

rce

feed

back

Usi

ng v

irtua

l con

stra

ints

to e

nhan

ce o

pera

tor

cont

rol

Pred

efin

ed c

onst

rain

tsSe

nsor

bas

edA

ugm

ente

d fo

rce

feed

back

bas

ed o

n fo

rce

mea

sure

men

t fro

m lo

ad c

ell

Switc

hing

bet

wee

n po

sitio

n an

d ra

te c

ontro

l

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

PHA

NTO

M C

ontro

l

f m=

f err

or+

f Virt

ualC

onst

rain

ts+

f Loa

df er

ror=

k me m

e m=

r m–

p mG

ener

ates

HA

L’s r

efer

ence

pos

ition

Rec

eive

s HA

L’s p

ositi

on10

00H

z ca

llbac

k fu

nctio

nsz–

dire

ctio

n fix

ed w

ith a

stiff

sprin

g fo

rce

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

HA

L C

ontro

l

Uni

ty fe

edba

ck

Ope

n lo

op tr

ansf

er fu

nctio

n –

Mer

ritt

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

HA

L C

ontro

l

Rou

th S

tabi

lity

–K

vKh

< 2ζϖ

Stea

dy e

rror

ana

lysi

sSt

ep in

put:

pos

ition

err

or →

zero

R

amp

inpu

t: po

sitio

n er

ror →

v s/K

vKh

Expe

rimen

tally

pic

ked

gain

s D

igita

lly im

plem

ente

d in

RTL

Iinux

at

1000

Hz

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

HA

L M

odifi

catio

nsEn

d Ef

fect

orH

ooks

Fork

s wou

ld li

mit

HA

L’s w

orks

pace

Dum

my

load

Stee

l box

∼10

0lb

Bar

s for

hoo

ks to

gra

bSe

nsor

sPr

oxim

ity se

nsor

On/

off c

onta

ct se

nsor

s

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Com

mun

icat

ion

Inte

rnet

UD

P so

cket

pro

gram

min

gT1

Eth

erne

t con

nect

ions

hav

e a

band

wid

th o

f 1.

5Mbp

s D

ata

pack

ets:

less

than

32b

ytes

= 2

56bi

tsLi

sten

ing

thre

ads h

andl

e as

ynch

rono

us in

com

ing

data

pac

kets

RTL

inux

cann

ot su

ppor

t soc

kets

Reg

ular

Lin

ux th

read

s ran

sock

ets

FIFO

’s(F

irst-I

n-Fi

rst-O

ut) l

inke

d R

TLin

ux a

nd L

inux

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Posi

tion

cont

rol

Mas

ter’

s pos

ition

⇒sl

ave’

s ref

eren

ceSl

ave’

s pos

ition

⇒m

aste

r’s r

efer

ence

Slav

e m

imic

s the

mot

ion

of th

e op

erat

or’s

ha

ndH

aptic

forc

e is

like

a v

isco

us d

ampe

rf er

ror∝

e m∝

e s→

∝v s

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Virt

ual H

aptic

Con

stra

ints

Hoo

ke’s

Law

sprin

gs: F

orce

= k

*xTw

o-si

ded

stiff

sprin

g si

mul

ates

a p

rede

fined

pat

hO

ne-s

ided

stiff

sprin

g si

mul

ates

a w

all

k =

k cif

x <

0k

= 0

if x

> 0

Use

d fo

r obs

tacl

e av

oida

nce

Ave

rage

hum

an w

ill b

e co

nvin

ced

that

a h

aptic

ef

fect

is im

mov

able

if it

can

dis

play

a st

iffne

ss o

f 2N

/mm

(11.

4lb/

in) –

Mas

sie

Impl

emen

ted

in m

aste

r’s w

orks

pace

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Sens

or B

ased

Virt

ual C

onst

rain

ts

Poss

ible

to c

reat

e co

nstra

ints

on

the

fly

usin

g da

ta fr

om p

roxi

mity

sens

ors,

GPS

or

othe

r sou

rces

Exam

ple:

HA

L’s H

oriz

onta

l Axi

sSi

mpl

e ta

sk o

f lift

ing

an o

bjec

tN

o fo

rce

feed

back

in h

oriz

onta

l dire

ctio

nO

bsta

cle

avoi

danc

ePo

sitio

ning

end

eff

ecto

r to

lift t

he lo

ad

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Prox

imity

Sen

sor C

onst

rain

t

2122

2324

2526

2728

2930

31111213141516171819

Hor

izon

tal(i

n)

Vertical(in)P

ath

of P

hant

omP

ath

of H

AL

Vir

tual

Con

stra

int

Pla

ne o

f Col

lisio

nP

roxi

mity

Sen

sor

Trip

ped

Hoo

k G

rabs

Loa

d

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Rel

ayin

g th

e Lo

ad’s

Wei

ght

Load

forc

e –

aler

ts th

e op

erat

or to

the

pres

ence

an

d w

eigh

t of l

oad

Load

cel

l mea

sure

s the

forc

e ex

erte

d by

the

cylin

der

Forc

e on

end

eff

ecto

rFr

ictio

n ac

ting

on m

ast

Wei

ght o

f mas

tId

eally

onl

y th

e fo

rce

gene

rate

d by

the

end

effe

ctor

’s in

tera

ctio

n w

ith e

nviro

nmen

t wou

ld b

e m

easu

red

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Forc

e M

easu

rem

ent

05

1015

200102030

Tim

e(s)

Vert-Pos(in)

05

1015

205010

0

150

200

Tim

e(s)

Force(lb)

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Cou

lom

b Fr

ictio

n

Cou

lom

b fr

ictio

n: c

onst

ant f

orce

opp

osin

g ve

loci

tyC

hang

es in

the

sign

of t

he v

eloc

ity p

redi

cts

whe

n th

e fr

ictio

n fo

rce

will

jum

pR

emov

e un

wan

ted

forc

e fr

om m

easu

red

sign

al.

Cou

lom

b fr

ictio

nW

eigh

t of m

ast

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Adj

uste

d Fo

rce

Sign

al

05

1015

201520253035

Tim

e(s)

Vert-Pos(in)

05

1015

20-1

000

100

200

Tim

e(s)

Force(in)

Nov

embe

r 11,

200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Com

men

ts

Cha

ract

eris

tics o

f the

Adj

uste

d fo

rce

sign

al

Cen

tere

d ar

ound

zer

o w

ith n

o lo

ad o

n th

e en

d ef

fect

orR

efle

cts t

he lo

ad’s

wei

ght

Has

forc

e sp

ike

ever

y tim

e th

e fr

ictio

n fo

rce

chan

ges

sign

Low

freq

uenc

y no

ise

Filte

r sig

nal

But

terw

orth

Filt

erEs

timat

e th

e w

eigh

t of t

he lo

ad b

y av

erag

ing

the

sign

al

Nov

embe

r 11,

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Mac

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Dyn

amic

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orat

ory

IMD

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Inte

llige

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Mac

hine

Dyn

amic

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orat

ory

Dyn

amic

s Lab

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ory

mko

ntz@

mai

l.com

Smoo

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Nov

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amic

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ory

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DL

Inte

llige

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achi

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telli

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Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

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mko

ntz@

mai

l.com

Run

ning

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Nov

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Mac

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Dyn

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ory

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DL

Inte

llige

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achi

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telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Non

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Nov

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200

2In

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Mac

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Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Hyb

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Nov

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Mac

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Dyn

amic

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orat

ory

IMD

LIM

DL

Inte

llige

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achi

neIn

telli

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Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

How

it w

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Nov

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telli

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Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Mod

e co

mpa

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Posi

tion

mod

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= p s

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Nov

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200

2In

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Whe

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Nov

embe

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telli

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Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Hyb

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Nov

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Mac

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amic

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orat

ory

IMD

LIM

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Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

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Hyb

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Nov

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Mac

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Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Con

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Hap

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Nov

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Mac

hine

Dyn

amic

s Lab

orat

ory

IMD

LIM

DL

Inte

llige

nt M

achi

neIn

telli

gent

Mac

hine

Dyn

amic

s Lab

orat

ory

Dyn

amic

s Lab

orat

ory

mko

ntz@

mai

l.com

Que

stio

ns