Velocity controller with force feedback stiffness control

• US 5,513,100 A
• Filed: 06/10/1993
• Issued: 04/30/1996
• Est. Priority Date: 06/10/1993
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: University of British Columbia
• Inventors: Parker, Niall R., Salcudean, Septimiu E., Lawrence, Peter D.
• Primary Examiner(s): Envall, Jr., Roy N.
• Assistant Examiner(s): BROWN, THOMAS
• Application Number:
  US08/074,645
• Time in Patent Office: 1,055 Days
• Field of Search: 901/8, 901/9, 901/15, 901/49, 318/568.1-568.25, 414/730, 414/909, 414/1-8, 364/157.01, 364/174, 395/80-97
• US Class Current: 700/56
• CPC Class Codes: G05B 19/427 Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence
• CPC Class Codes: G05B 2219/39529 Force, torque sensor in wrist, end effector
• CPC Class Codes: G05B 2219/40144 Force sensation feedback from slave
• CPC Class Codes: G05B 2219/40194 Force reflective, impedance shaping tele operation

Abstract

A force feedback velocity control measures the forces adjacent the end point of an arm being controlled and adjusts the stiffness of a manual controller in any one direction by scaling the end point force in the corresponding direction and adjusting the scaled force based on the degree of displacement of the manual controller away from a datum or zero velocity position in the one direction. A suitable deadband zone is provided surrounding the datum position.

Claims

1. A method for applying force feedback to a manual control member of a velocity control system for an arm having an end point comprising determining the degree of displacement (d) of said manual control member from a datum position wherein no velocity commands are provided to move said arm, said displacement of said member defining the velocity signal desired by the operator, determining forces (f_e) at said end point, defining a stiffness factor (K_c) as a function of said determined forces (f_e) at said end point, defining a feedback force (f_m) based on the product of said stiffness factor (K_c) and a function of said determined degree of displacement (d) of said manual control member from said datum position, and applying said feedback force (f_m) to said manual control member to bias said manual control member toward said datum position.

2. A method as defined in claim 1 wherein said stiffness factor (K_c) is obtained by scaling said determined end point forces f_e.

3. A method as defined in claim 1 further comprising providing a deadband zone d.sub.(db) wherein movement of said manual member does not result in movement of said end point, said deadband zone d.sub.(db) surrounding said datum position.

4. A method as defined in claim 2 further comprising providing a deadband zone d.sub.(db) wherein movement of said manual member does not result in movement of said end point, said deadband zone d.sub.(db) surrounding said datum position.

6. A system as defined in claim 3 wherein a deadband zone (d.sub.(db)) wherein movement of said manual displaceable member produces no changes in velocity of said end point encircles said datum position.

7. A method as defined in claim 1 wherein said stiffness factor K_c is determined using the formula

8. A method as defined in claim 3 wherein said deadband zone is determined by

9. A method as defined in claim 8 wherein said stiffness factor K_c is determined using the formula

11. A system as defined in claim 6 wherein said deadband zone is determined by

12. A system as defined in claim 11 wherein said stiffness factor K_c is determined using the formula

5. A force feedback velocity control system for applying force feedback to a manual displaceable member for controlling an arm having an end point comprising a computer means, a master controller means, said manual displaceable member controlling said master controller, said master controller being mapped to provide a datum position of said manual displaceable member wherein no velocity signals are sent to said computer when said member is in said datum position and to adjust the velocity signal to said computer means to increase the velocity of said end point in a any one direction in an amount dependent on the degree of displacement (d) of said displaceable member from said datum position in the direction of movement of said member controlling movement of said end point in said one direction, means for applying feedback forces (f_m) to said manual displaceable member to resist movement of said manual displaceable member away from said datum position, means to provide signals representing end point forces (f_e) on said arm adjacent said end point, means to define a stiffness factor (K_c) as a function of said end point force (f_e) and generate force feedback signals based on said stiffness factor (K_c), means for modifying said means for applying stiffness to modify said feedback force (f_m) in said direction of movement controlling velocity of said end point in said one direction based on the product of said stiffness factor (K_c) and a function of displacement (d) of said member from said datum in said direction of movement of said member controlling velocity of said end point in said one direction.

10. A system as defined in claim 5 wherein said stiffness factor K_c is determined using the formula