PURPOSE: To improve the operability of a manual controller by using a motor to control reflecting power and torque.
CONSTITUTION: This controller has a virtual pivot which is adapted to a change in operation of a pilot and six degrees of freedom, and is arranged so that the position of the pivot is not only variable but also various forces, torques, displacements, and rotations are generated. And, this controller performs a force feedback simulating a spring type of feedback, and is also provided with various reflection states to the pilot environment including various speeds, various stop positions, changeable attenuation, impacts, approaches, and limits, etc. This virtual pivot manual controller 10 is provided with an pilot input grip 28 and the hand grip 28 is connected with a force and torque sensor 34 with six degrees of freedom through a grip platform 30. As a result, the parameter of degree of freedom, the stop, and the speed of the reflection force can easily be corrected without changing hardware and the virtual pivot position of the manual controller 10 can easily be changed as well.
| WO/2008/074081 | METHOD AND APPARATUS FOR HAPTIC CONTROL |
| JPH0679670 | OPERATION DEVICE |
| JP6338617 | Teaching device |
JIYON EMU BURONBERUKU
UIRIAMU SHII MAASHIYARU JIYUNI
ROBAATO II DOUMEIA
DEBITSUDO JIEI ROORII
