Synthetic friction algorithm for a hand control element

• US 5,414,620 A
• Filed: 08/09/1993
• Issued: 05/09/1995
• Est. Priority Date: 08/09/1993
• Status: Expired due to Term

• Current Assignee: Honeywell Incorporated (Honeywell International Inc.)
• Original Assignee: Honeywell Incorporated (Honeywell International Inc.)
• Inventors: Kauffman, James W.
• Primary Examiner(s): Trammell, James P.
• Application Number:
  US08/103,899
• Time in Patent Office: 638 Days
• Field of Search: 364/146, 364/167.01, 364/188-193, 414/5, 414/2, 414/6, 414/7, 901/33, 901/34, 318/632, 318/561, 318/618, 318/615, 244/223, 244/228, 244/236, 244/234, 340/870.32, 340/870.35
• US Class Current: 700/56
• CPC Class Codes: B25J 9/1689 Teleoperation

Abstract

Synthetic friction force algorithms provide simulated static friction forces as well as dynamic friction forces. On either side of a hand-control element reference position a small static friction zone is established. As long as the hand-control element is within this static friction zone, the reference position remains constant and the control element drive motor generates a centering force proportional to the distance of the hand-control element from the reference position; a force urging the hand-control element toward the reference position. When the relative position of the hand-control element reaches or exceeds an edge of the static friction zone, it enters the dynamic friction zone. The motor applies a constant dynamic friction force, urging the hand-control element toward the reference position and the reference position is translated so that the edge of the static friction zone is translated to the current hand-control element position.

Claims

1. A method for simulating friction forces in an active, position mode hand controller that includes a hand-control element and a motor coupled to said hand-control element, said method comprising the steps of:

establishing a reference position;

establishing a static friction zone having a static zone boundary that extends a short distance on either side of said reference position;

linearly increasing a force toward said reference position applied by said motor to said control element as said hand-control element moves from said reference position within said static friction zone;

maintaining a constant force toward said reference position applied by said motor to said control element as said hand-control element moves from said reference position outside said static friction zone; and

redefining said reference position when a position of said hand-control element crosses said static zone boundary of said static friction zone, by translating said static zone boundary closest to said position of said hand-control element, to said position of said hand-control element.

2. A method for simulating friction forces in an active, position mode hand controller as in claim 1, wherein said constant force is equal to said linearly increasing force toward said reference position when said hand-control element reaches said boundary of said static friction zone.

3. A method for simulating friction forces in an active, position mode hand controller as in claim 1, wherein said constant force towards said reference position is less than said linearly increasing force toward said reference position when said hand-control element reaches said boundary of said static friction zone.