Seminar Report On Space Mouse 2k4o17
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SEMINAR REPORT ON SPACE MOUSE INDEX
S. NO.
CHAPTER
PAGE NO.
1
INTRODUCTION
1
2
HOW DOES A MOUSE WORK??
COMPUTER
2
3
THREE DIMENTIONAL INTERFACE
8
4
MECHATRONICS
10
5
SPACEMOUSE
15
6
MAGELLAN: FEATURES AND BENEFITS
28
7
CONCLUSION
38
8
REFERENCE
39
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains CHAPTER 1
INTRODUCTION Every day of your computing life, you reach out for the mouse whenever you want to move the cursor or activate something. The mouse senses your motion and your clicks and sends them to the computer so it can respond appropriately. An ordinary mouse detects motion in the X and Y plane and acts as a two dimensional controller. It is not well suited for people to use in a 3D graphics environment. Space Mouse is a professional 3D controller specifically designed for manipulating objects in a 3D environment. It permits the simultaneous control of all six degrees of freedom - translation rotation or a combination. . The device serves as an intuitive man-machine interface The predecessor of the spacemouse was the DLR controller ball. Spacemouse has its origins in the late seventies when the DLR (German Aerospace Research Establishment) started research in its robotics and system dynamics division on devices with six degrees of freedom (6 dof) for controlling robot grippers in Cartesian space. The basic principle behind its construction is mechatronics engineering and the multisensory concept. The spacemouse has different modes of operation in which it can also be used as a two-dimensional mouse.
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How does computer mouse work?
Mice first broke onto the public stage with the introduction of the Apple Macintosh in 1984, and since then they have helped to completely redefine the way we use computers. Every day of your computing life, you reach out for your mouse whenever you want to move your cursor or activate something. Your mouse senses your motion and your clicks and sends them to the computer so it can respond appropriately 2.1 Inside a Mouse The main goal of any mouse is to translate the motion of your hand into signals that the computer can use. Almost all mice today do the translation using five components:
Fig.1 The guts of a mouse
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1. A ball inside the mouse touches the desktop and rolls when the mouse moves.
Fig 2 The underside of the mouse's logic board: The exposed portion of the ball touches the desktop. 2. Two rollers inside the mouse touch the ball. One of the rollers is oriented so that it detects motion in the X direction, and the other is oriented 90 degrees to the first roller so it detects motion in the Y direction.
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Fig.3 The rollers that touch the ball and detect X and Y motion 3. When the ball rotates, one or both of these rollers rotate as well. The following image shows the two white rollers on this mouse: 4. The rollers each connect to a shaft, and the shaft spins a disk with holes in it. When roller rolls, its shaft and disk spin. The following image shows the disk:
Fig.4 A typical optical encoding disk: This disk has 36 holes around its outer edge. 4. On either side of the disk there is an infrared LED and an infrared sensor. The holes in the disk break the beam of light coming from the LED so that the infrared sensor sees pulses of light. FOR MORE: [email protected]
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Fig.5 A close-up of one of the optical encoders that track mouse motion: There is an infrared LED (clear) on one side of the disk and an infrared sensor (red) on the other.
The rate of the pulsing is directly related to the speed of the mouse and the distance it travels.
5. An on-board processor chip reads the pulses from the infrared sensors and turns them into binary data that the computer can understand. The chip sends the binary data to the computer through the mouse's cord.
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Fig 6 The logic section of a mouse is dominated by an encoder chip, a small processor that reads the pulses coming from the infrared sensors and
turns
them
into
bytes
sent
to
the
computer. You can also see the two buttons that detect clicks (on either side of the wire connector). In this optomechanical arrangement, the disk moves mechanically, and an optical system counts pulses of light. On this mouse, the ball is 21 mm in diameter. The roller is 7 mm in diameter. The encoding disk has 36 holes. So if the mouse moves 25.4 mm (1 inch), the encoder chip detects 41 pulses of light.
Each encoder disk has two infrared LEDs and two infrared sensors, one on each side of the disk (so there are four LED/sensor pairs inside a mouse). This arrangement allows the processor to detect the disk's direction of rotation. There is a piece of plastic with a small, precisely located hole that sits between the encoder disk and each infrared sensor. This piece of plastic provides a window through which the FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains infrared sensor can "see." The window on one side of the disk is located slightly higher than it is on the other -- one-half the height of one of the holes in the encoder disk, to be exact. That difference causes the two infrared sensors to see pulses of light at slightly different times. There are times when one of the sensors will see a pulse of light when the other does not, and vice versa.
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CHAPTER 3 Three-dimensional interfaces For typical computer displays, three-dimensional is a misnomer—their displays are two-dimensional. Three-dimensional images are projected on them in two dimensions. Since this technique has been in use for many years, the recent use of the term three-dimensional must be considered a declaration by equipment marketers that the speed of three dimension to two dimension projection is adequate to use in standard graphical interfaces.
Three-dimensional graphical interfaces are common in science fiction literature and movies, such as in Jurassic Park, which features Silicon Graphics' three-dimensional file manager, "File system navigator", an actual file manager that never got much widespread use as the interface for a Unix computer. In science fiction, three-dimensional interfaces are often immersible environments like William Gibson's Cyberspace or Neal Stephenson's Metaverse. Three-dimensional graphics are currently mostly used in computer games, art and computer-aided design (CAD). There have been several attempts at making three-dimensional desktop environments like Sun's Project Looking Glass or SphereXP from Sphere Inc. A threedimensional
computing
environment
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could
possibly
be
used
for
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains collaborative work. For example, scientists could study three-dimensional models of molecules in a virtual reality environment, or engineers could work on assembling a three-dimensional model of an airplane. This is a goal of the Croquet project and Project Looking Glass by Java. The use of three-dimensional graphics has become increasingly common in mainstream operating systems, but mainly been confined to creating attractive interfaces—eye candy—rather than for functional purposes only possible using three dimensions. For example, switching is represented by rotating a cube whose faces are each 's workspace, and window management is represented in the form of Exposé on Mac OS X, or via a Rolodex-style flipping mechanism in Windows Vista. In both cases,
the
operating
system
transforms
windows
on-the-fly
while
continuing to update the content of those windows. workspace, and window management is represented in the form of Exposé on Mac OS X, or via a Rolodex-style flipping mechanism in Windows Vista. In both cases, the operating system transforms windows on-the-fly while continuing to update the content of those windows. Interfaces for the X Window System have also implemented advanced three-dimensional interfaces through compositing window managers such as Beryl and Compiz using the AIGLX or XGL architectures, allowing for the usage of OpenGL to animate the 's interactions with the desktop. Another branch in the three-dimensional desktop environment is the three-dimensional graphical interfaces that take the desktop metaphor a step further, like the BumpTop, where a can manipulate documents and windows as if they were "real world" documents, with realistic movement and physics. With the current pace on threedimensional and related hardware evolution, projects such these may reach an operational level soon. FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains CHAPTER 4
MECHATRONICS 4.1 What is Mechatronics engineering? Mechatronics is concerned with the design automation and operational performance of electromechanical systems. Mechatronics engineering is nothing new; it is simply the applications of latest techniques
in
precision
mechanical
engineering,
electronic
and
computer control, computing systems and sensor and actuator technology to design improved products and processes. The basic idea of Mechatronics engineering is to apply innovative controls to extract new level of performance from a mechanical device. It means using modem cost effective technology to improve product and process performance, adaptability and flexibility. Mechatronics covers a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control. A typical Mechatronic system picks up signals processes them and generates forces and motion as an output. In effect mechanical systems are extended and integrated with sensors (to know where things are), microprocessors (to work out what to do), and controllers (to perform the required actions). The word Mechatronics came up describing this fact of having technical systems operating mechanically with respect to some kernel functions but with more or less electronics ing the mechanical parts decisively. Thus we can say that Mechatronics is a blending of Mechanical engineering,Electronics engineering and Computing. These FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains three disciplines are linked together with knowledge of management, manufacturing and marketing. Mechatronics is centered on mechanics, electronics, computing, control engineering, molecular engineering (from nanochemistry andbiology), and optical engineering, which, combined, make possible the generation of simpler, more economical, reliable and versatile systems. The portmanteau "mechatronics" was coined by Tetsuro Mori, the senior engineer of the Japanese company Yaskawa in 1969. An industrial robot is a prime example of a mechatronics system; it includes aspects of electronics, mechanics, and computing to do its day-to-day jobs.
Engineering cybernetics deals with the question of control engineering of mechatronic systems. It is used to control or regulate such a system (see control theory). Through collaboration, the mechatronic modules perform the production goals and inherit flexible and agile manufacturing properties in the production scheme. Modern production equipment consists of mechatronic modules that are integrated according to a control architecture. The most known architectures involve hierarchy, polyarchy, heterarchy, and hybrid. The methods for achieving a technical effect are described by control algorithms, which might or might not utilize formal methods in their design. Hybrid systems important to mechatronics include production systems, synergy drives, planetary exploration rovers, automotive subsystems such as antilock braking systems and spin-assist, and every-day equipment such as autofocus cameras, video, hard disks, and CD players.
For most mechatronic systems, the main issue is no more how to implement a control system, but how to implement actuators and what is the energy source. Within the mechatronic field, mainly two technologies are used to produce the movement: the piezo-electric actuators and motors, or the electromagnetic actuators and motors. Maybe the most famous mechatronics systems are the well known camera autofocus system or camera anti-shake systems. Concerning the energy sources, most of the applications use batteries. But a new trend is arriving and is the energy harvesting, allowing transforming FOR MORE: [email protected]
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4.2 What do Mechatronics engineers do? Mechatronics design covers a wide variety of applications from the physical integration and miniaturization of electronic controllers with mechanical systems to the control of hydraulically powered robots in manufacturing and assembling factories. Computer disk drives are one example of the successful application of Mechatronics engineering as they are required to provide very fast access precise positioning and robustness against various disturbances. An intelligent window shade that opens and closes according to the amount of sun exposure is another example of a Mechatronics application. Mechatronics engineering may be involved in the design of equipments and robots for under water or mining exploration as an alternative to using human beings where this may be dangerous. In fact Mechatronics engineers can be found working in a range of industries and project areas including Design of data collection, instrumentation and computerized machine tools. Intelligent automation
product for
design
household
for
example
transportation
smart and
cars
and
industrial
application. Design of self-diagnostic machines, which fix problems on their own. FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains Medical devices such as life ing systems, scanners and DNA sequencing automation. Robotics and space exploration equipments. Smart domestic consumer goods Computer peripherals. Security systems.
4.3 Mechatronic goals 4.3.1 The multisensory concept The aim was to design a new generation of multi sensory lightweight robots. The new sensor and actuator generation does not only show up a high degree of electronic and processor integration but also
fully
modular
hardware
and
software
structures.
Analog
conditioning, power supply and digital pre-processing are typical subsystems modules of this kind. The 20khz lines connecting all sensor and actuator systems in a galvanically decoupled way and high speed optical serial data bus (SERCOS) are the typical examples of multi sensory and multi actuator concept for the new generation robot envisioned. The main sensory developments finished with these criteria have been in the last years: optically measuring force-torque-sensor for assembly operations. In a more compact form these sensory systems were integrated inside plastic hollow balls, thus generating 6-degree of freedom hand controllers (the DLR control balls). The SPACE-MOUSE is the most recent product based on these ideas. stiff strain-gauge based 6 component force-torque-sensor systems. miniaturized triangulation based laser range finders. integrated inductive t-torque-sensor for light-weight-robot.
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains In order to demonstrate the multi sensory design concept, these types of sensors have been integrated into the multi sensory DLRgripper, which contains 15 sensory components and to our knowledge it is the most complex robot gripper built so far (more than 1000 miniaturized electronic and about 400 mechanical components). It has become a central element of the ROTEX space robot experiment.
CHAPTER 5
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Spacemouse is developed by the DLR institute of robotics and mechatronics. DLR- Deutsches Zenturum far Luft-und Raumfahrt 5.1 Why 3D motion? In every area of technology, one can find automata and systems controllable up to six degrees of freedom- three translational and three rotational. Industrial robots made up the most prominent category needing six degrees of freedom by maneuvering six ts to reach any point in their working space with a desired orientation. Even broader there have been a dramatic explosion in the growth of 3D computer graphics. Already in the early eighties, the first wire frame models of volume objects could move smoothly and interactively using so called knob-boxes on the fastest graphics machines available. A separate button controlled each of the six degrees of freedom. Next, graphics systems on the market allowed manipulation of shaded volume models smoothly, i.e. rotate, zoom and shift them and thus look at them from any viewing angle and position. The scenes become more and more complex; e.g. with a "reality engine" the mirror effects on volume car bodies are updated several times per second - a task that needed hours on main frame computers a couple of years ago. Parallel to the rapid graphics development, we observed a clear trend in the field of mechanical design towards constructing and modeling new parts in a 3D environment and transferring the resulting programs to NC machines. The machines are able to work in 5 or 6 degrees of freedom (dof). Thus, it is no surprise that in the last few years, there are increasing demands for comfortable 3D control and FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains manipulation devices for these kinds of systems. Despite breathtaking advancements in digital technology it turned out that digital manmachine interfaces like keyboards are not well suited for people to use as our sensomotory reactions and behaviors are and will remain analogous forever.
s control three-dimensional movement by maneuvering SPACE MOUSE "Classic" spring-mounted cap. Slight finger pressure on the cap will control an object in up to 6 degrees of freedom (X, Y, Z, pitch, roll, and yaw movement) simultaneously. The SPACE MOUSE "Classic" 3D Motion Controller is available for both UNIX and PC platforms to be used with industry standard CAD/CAM, CAE applications such as CATIA, Pro/ENGINEER, I-DEAS or AutoCAD.
Features: Unprecedented ease of use for manipulating objects in 3D applications Calibration- and driftfree sensor technology for high precision and unequaled reliability Nine programmable buttons to customize 's preferences for motion control Finger operation for maximum precision and performance Certified by all major suppliers of CAD/CAM, CAE and visual simulation products Benefits: In CAD/CAM, CAE and visual simulation applications, the 3D Motion Controller is used in conjunction with the normal mouse. As the positions the 3D object with Magellan™, the necessity of going back and forth to a menu is eliminated. Thus, drawing times can be reduced by 20-30%, increasing overall productivity. Other benefits include an improved design comprehension and earlier detection of design errors, contributing to faster time to market and cost savings in the design process.
SPACE MOUSE "Classic" - Product Specifications
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains Operating Modes:
3D interface (six degrees of freedom)
Translation Mode:
Only the translation coordinates (X, Y, X) are reported
Rotation Mode:
Only the rotation coordinates (A, B, C) are reported
Dominant Mode:
Only the coordinate magnitude is reported
Sensitivity
Adjustable (real 600 speed levels resolution)
Buttons:
9, programmable
Interface type:
RS232C Serial
Baud Rate:
9600 baud
Connector:
DSUB 9 Female
Power Supply:
via serial port signals
Dimensions:
L x W x H: 163 x 112 x 40 mm
Weight:
665 gr.
EMC Standards:
FCC, TUV/GS, UL/UR and CE approved
Warranty:
3 Years
Operating Modes:
3D interface (six degrees of freedom)
Translation Mode:
Only the translation coordinates (X, Y, X) are reported
Rotation Mode:
Only the rotation coordinates (A, B, C) are reported
Dominant Mode:
Only the coordinate magnitude is reported
Sensitivity
Adjustable (real 600 speed levels resolution)
Buttons:
9, programmable
Interface type:
RS232C Serial
Baud Rate:
9600 baud
Connector:
DSUB 9 Female
FOR MORE: [email protected]
with
with
the
the
greatest
greatest
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains Power Supply:
via serial port signals
Dimensions:
L x W x H: 163 x 112 x 40 mm
Weight:
665 gr.
EMC Standards:
FCC, TUV/GS, UL/UR and CE approved
Warranty:
3 Years
SpaceMouse® Plus is the award-winning product in the line of professional 3D motion controllers for industrial design and visual simulation applications. It provides intuitive and precise interactive motion control of three-dimensional graphic objects in up to six degrees of freedom simultaneously. This professional input device dramatically increases productivity, improves object comprehension and helps detect design errors earlier.
Spacemouse Plus A -friendly, soft coated cap (electrostatic, ionised method of coating provides a better grip) with a distinctive grip area for thumb, forefinger and middle finger s virtually every single cap movement with the uniquely soft, pressure-sensitive sensor. Dedicated edges improve your emotional attachment to the graphics object and ensure precise object manipulation in 3D space. The V-shaped cap particularly s the "zoom" command, the most commonly used positioning command in 3D design applications. Optimised overall dimensions and generous device weight, produce unsured stability for hassle-free computing experience.
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains In CAD/CAM, CAE and visual simulation applications, the 3D Motion Controller is used in conjunction with the normal mouse. As the positions the 3D object with SpaceMouse®, the necessity of going back and forth to a menu is eliminated. Thus, drawing times can be reduced by 2030%, increasing overall productivity. Other benefits include an improved design comprehension and earlier detection of design errors, contributing to faster time to market and cost savings in the design process. This 3D motion controller features 11 programmable map keys (plus a Quicktip® button) that let you easily customize the device's sensitivity settings and motion controls. You also may assign applicationspecific tasks to the buttons. The inclined keypad has nine buttons with two additional buttons on each side of the cap for easy access. Its patented hightech core, an opto-electronic and -less measuring system provides six degrees of freedom motion control (X, Y, Z, pitch, roll and yaw) without the need for calibration.
Spacemouse Plus
5.2 DLR control ball, Magellan's predecessor At the end of the seventies, the DLR (German Aerospace Research Establishment) institute for robotics and system dynamics started research on devices for the 6-dof control of robot grippers .in Cartesian FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains space. After lengthy experiments it turned out around 1981 that integrating a six axis force torque sensor (3 force, 3 torque components) into a plastic hollow ball was the optimal solution. Such a ball ed the linear and rotational displacements as generated by the forces/ torques of a human hand, which were then computationally transformed into translational / rotational motion speeds. The first force torque sensor used was based upon strain gauge technology, integrated into a plastic hollow ball. DLR had the basic concept centre of a hollow ball handle approximately coinciding with the measuring centre of an integrated 6 dof force / torque sensor patented in Europe and US. From 1982-1985, the first prototype applications showed that DLR's control ball was not only excellently suited as a control device for robots, but also for the first 3D-graphics system that came onto the market at that time. Wide commercial distribution was prevented by the high sales price of about $8,000 per unit. It took until 1985 for the DLR's developer group to succeed in deg a much cheaper optical measuring system.
5.2.1 Basic principle The new system used 6 one-dimensional position detectors. This system received a worldwide patent. The basic principle is as follows. The measuring system consists of an inner and an outer part. The measuring arrangement in the inner ring is composed of the LED, a slit and perpendicular to the slit on the opposite side of the ring a linear position sensitive detector (PSD). The slit / LED combination is mobile against the remaining system. Six such systems (rotated by 60 degrees each) are mounted in a plane, whereby the slits alternatively are vertical FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains and parallel to the plane. The ring with PSD's is fixed inside the outer part and connected via springs with the LED-slit-basis. The springs bring the inner part back to a neutral position when no forces / torque are exerted: There is a particularly simple and unique. This measuring system is drift-free and not subject to aging effects. The whole electronics including computational processing on a one-chip-processor was already integrable into the ball by means of two small
double
sided
surface
mount
device
(SMD)
boards,
the
manufacturing costs were reduced to below $1,000, but the sales price still hovered in the area of $3,000. The original hopes of the developers group that the license companies might be able to redevelop devices towards much lower manufacturing costs did not materialize. On the other hand, with ing
of
time, other
technologically
comparable
ball
systems
appeared on the market especially in USA. They differed only in the type of measuring system. Around 1990, like cyberspace and virtual reality became popular. However, the effort required to steer oneself around in a virtual world using helmet and glove tires one out quickly. Movements were measured by electromagnetic or ultrasonic means,
with
the
human
head
having
problems
in
controlling
translational speeds. In addition, moving the hand around in free space leads to fairly fast fatigue. Thus a redesign of the ball idea seemed urgent.
5.3 Magellan (the European Spacemouse): FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains the result of a long development chain With the developments explained in the previous sections, DLR's development group started a transfer company, SPACE CONTROL and addressed a clear goal: To redesign the control ball idea with its unsured opto electronic measuring system and optimize it thus that to reduce manufacturing costs to a fraction of its previous amount and thus allow it to approach the pricing level of high quality PC mouse at least long-term.
Fig 7.Spacemouse system The new manipulation device would also be able to function as a conventional mouse and appear like one, yet maintain its versatility in a real workstation design environment. The result of an intense oneyear's work was the European SpaceMouse, in the USA it is especially in the European market place. But end of 93, DLR and SPACE
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains CONTROL tly approached LOGITECH because of their wide expertise with pointing devices for computers to market and sell Magellan in USA and Asia. The wear resistant and drift free opto electronic, 6 component measuring system was optimized to place all the electronics, including the analogous signal processing, AT conversion, computational evaluation and power supply on only one side of a tiny SMD- board inside Magellan's handling cap. It only needs a few milliamperes of current supplied through the serial port of any PC or standard mouse interface. It does not need a dedicated power supply. The electronic circuitry using a lot of time multiplex technology was simplified by a factor of five, compared to the former control balls mentioned before. The unbelievably tedious mechanical optimization, where the simple adjustment of the PSD's with respect to the slits played a central role in its construction, finally led to 3 simple injection moulding parts, namely the basic housing, a cap handle with the measuring system inside and the small nine button keyboard system. The housing, a punched steel plate provides Magellan with the necessary weight for stability; any kind of metal cutting was avoided. The small board inside the cap (including a beeper) takes diverse mechanical functions as well. For example, it contains the automatically mountable springs as well as overload protection. The springs were optimized in the measuring system so that they no longer show hysteresis; nevertheless different stiffness of the cap are realizable by selection of appropriate springs. Ergonomically, Magellan was constructed as flat as can be so that the human hand may rest on it without fatigue. Slight pressures of the fingers on the cap of Magellan is sufficient for generating deflections in X, Y, and Z planes, thus shifting a cursor or flying a 3D graphics object translationally through space. Slight twists of the cap cause rotational motions of a 3D graphics object around the corresponding axes. Pulling the cap in the Z direction corresponds to zooming function. Moving the FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains cap in X or Y direction drags the horizontally and vertically respectively on the screen. Twisting the cap over one of the main axes or any combination of them rotates the object over the corresponding axis on the screen. The can handle the
object on the screen a he were
holding it in his own left hand and helping the right hand to undertake the constructive actions on specific points lines or surfaces or simply by unconsciously bringing to the front of appropriate perspective view of any necessary detail of the object. With the integration of nine additional key buttons any macro functions can be mapped onto one of the keys thus allowing the most frequent function to be called by a slight finger touch from the left hand. The device has special features like dominant mode. It uses those degrees of freedom in which the greatest magnitude is generated. So defined movements can be created. Connection to the computer is through a 3m cable (DB9 female) and platform adapter if necessary. Use of handshake signals (RTSSCTS) are recommended for the safe operation of the spacemouse. Without these handshake signals loss of data may occur. Additional signal lines are provided to power the Magellan (DTS&RTS). Thus, no additional power supply is needed. Flying an object in 6 dof is done intuitively without any strain. In a similar way, flying oneself through a virtual world is just fun. Touching the keys results in either the usual menu selection, mode selection or the pickup of 3D objects.
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fig 8 Spacemouse
Every day of your computing life, you reach out for the mouse whenever you want to move the cursor or activate something. The mouse senses your motion and your clicks and sends them to the computer so it can respond appropriately. An ordinary mouse detects motion in the X and Y plane and acts as a two dimensional controller. It is not well suited for people to use in a 3D graphics environment. Space Mouse is a professional 3D controller specifically designed for manipulating objects in a 3D environment. It permits the simultaneous control of all six degrees of freedom - translation rotation or a combination. . The device serves as an intuitive man-machine interface The predecessor of the spacemouse was the DLR controller ball. Spacemouse has its origins in the late seventies when the DLR (German Aerospace Research Establishment) started research in its robotics and system dynamics division on devices with six degrees of freedom (6 dof) for controlling robot grippers in Cartesian space. The basic principle FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains behind
its
construction
is
mechatronics
engineering
and
the
multisensory concept. The spacemouse has different modes of operation in which it can also be used as a two-dimensional mouse.
5.4 Table-1
Technical specifications of spacemouse
Magellan/SpaceMouse Classic is used in conjunction with the normal mouse (or tablet). The intuitively positions an object with Magellan/SpaceMouse while working on that object using the mouse. Slight pressure of the fingers onto the ÒcapÓ is sufficient for generating small deflections of a 3D graphic object. This corresponds to the natural way of executing coordinated operations with both hands and s intuitive creativity without interrupting the natural thought process. Additionally, the ergonomic design of a flat cap reduces stress in the hand and arm. P a t e n t e d H i g h - Te c h C o r e Magellan/SpaceMouse 3D Motion Controller translates your sense of touch into dynamic movement of objects within 3D space. FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains ItÕs patented high-tech core (license DLR), an opto-electronic and less measuring system provides 6 degrees of freedom motion control (X, Y, Z, pitch, roll and yaw) without the need for calibration. Magellan/SpaceMouse technology has been optimized and miniaturized in such a way that it works with standard serial interfaces without any additional power supply.
Magellan/SpaceMouse Classic is a space-proven, highly reliable professional product, manufactured according to the strictest quality standards of Logitech, the worldÕs leading manufacturer of control devices. Specifications Operating Modes 3D Interface Ð 6 degrees of freedom Translation Mode Only the translation coordinates (X, Y, Z) are reported Rotation Mode Only the rotation coordinates (A, B, C) are reported Dominant Mode Only the coordinate with the greatest magnitude is reported Sensitivity Adjustable (600 speed levels resolution) Buttons 9, programmable Interface Type RS-232C Serial Baud Rate 9600 baud Connector DB 9 Female Power Supply Serial port signals Weight 665 grams Dimensions L x W x H 165 x 112 x 40mm EMC Standards FCC, CE and EMI approved
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CHAPTER 6
MAGELLAN: FEATURES AND BENEFITS 6.1 Features Ease of use of manipulating objects in 3D applications. Calibration free sensor technology for high precision and unique reliability. Nine programmable buttons to customize s preference for motion control Fingertip operation for maximum precision and performance. Settings to adjust sensitivity and motion control to the s preference. Small form factor frees up the desk space. Double productivity of object manipulation in 3D applications. Natural hand position (resting on table) eliminates fatigue. 6.2 Benefits As the positions the 3D objects with the Magellan device the necessity of going back and forth to the menu is eliminated. Drawing times is reduced by 20%-30% increasing overall productivity. With the Magellan device improved design comprehension is possible and earlier detection of design errors contributing faster time to market and cost savings in the design process. Any computer whose graphics power allows to update at least 5 frames per second of the designed scenery, and which has a standard RS232 interface, can make use of the full potential of Magellan spacemouse. In 3D applications Magellan is used in conjunction with a 2D mouse. The positions an object with FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains spacemouse while working on the object using a mouse. We can consider it as a workman holding an object in his left hand and working on it with a tool in his right hand. Now Magellan spacemouse is becoming something for standard input device for interactive motion control of 3D graphics objects in its working environment and for many other applications.
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CHAPTER 7
FUTURE SCOPE 7.1 FUTURE SCOPE Magellan's predecessor, DLR's control ball, was a key element of the first real robot inspace, ROTEX- (3), which was launched in April 93 with space shuttle COLUMBIA inside a rack of the spacelab-D2. The robot was directly teleoperated by the astronauts using the control ball, the same way remotely controlled from ground (on-line and off line) implying "predictive" stereographics. As an example, the ground operator with one of the two balls or Magellans steered the robot's gripper in the graphics presimulation, while with the second device he was able to move the whole scenery around smoothly in 6 dot Predictive graphics simulation together with the above mentioned man machine interaction allowed for the compensation of overall signal delays up to seven seconds, the most spectacular accomplishment being the grasping of a floating object in space from the ground. Since then, ROTEX has often been declared as the first real "virtual reality" application. SPACE MOUSE "Plus" is the newest award-winning product in the line of professional 3D motion controllers for industrial design and visual simulation applications. It provides intuitive and precise interactive motion control of three-dimensional graphic objects in up to six degrees of freedom simultaneously. This professional input device dramatically increases productivity, improves object comprehension and helps detect design errors earlier. A new, -friendly cap with a distinctive grip area for thumb, forefinger and middle finger s virtually every single cap movement with the uniquely soft, pressure-sensitive sensor. Dedicated edges improve your emotional attachment to the graphics object and ensure precise object manipulation in 3D space. The V-shaped cap particularly s the "zoom" command, the most commonly used positioning command in 3D design applications. Optimized overall dimensions and generous device weight, produce unsured stability for hassle-free computing experience. This 3D motion controller features 11 programmable map keys that let you easily customize the device's sensitivity settings and motion controls. You also may assign application-specific tasks to the buttons. The FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains inclined keypad has nine buttons with two additional buttons on each side of the cap for easy access. Its patented high-tech core, an opto-electronic and -less measuring system provides six degrees of freedom motion control (X, Y, Z, pitch, roll and yaw) without the need for calibration.
SPACE MOUSE "Plus" - Product Specifications Operating Modes:
3D interface (six degrees of freedom)
Translation Mode:
Only the translation coordinates (X, Y, X) are reported
Rotation Mode:
Only the rotation coordinates (A, B, C) are reported
Dominant Mode:
Only the coordinate magnitude is reported
Sensitivity
Adjustable (real 600 speed levels resolution)
Buttons:
11, programmable
Interface type:
RS232C Serial
Baud Rate:
9600 baud
Connector:
DSUB 9 Female
Power Supply:
via serial port signals
Dimensions:
L x W x H: 188 x 120 x 44 mm
Weight:
720 grams
EMC Standards:
FCC, TUV/GS, UL/UR and CE approved
Warranty:
3 Years
FOR MORE: [email protected]
with
the
greatest
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Cyberpuck
CYBERPUCK is the world's first six-degrees of freedom, 3D web navigation device. While the normal mouse clicks represents a repetitive and tedious way of designating direction for navigation in 3D space, Cyberpuck allows the to "fly through" in a seamless and intuitive way. Particularly in the field of professional, multi- graphics applications, Cyberpuck creates an entirely new way of real-time communication ("collaborative engineering").
Cyperpuck
-
Product
Specifications
Operating Modes:
3D interface (six degrees of freedom)
Translation Mode:
Only the translation coordinates (X, Y, X) are reported
Rotation Mode:
Only the rotation coordinates (A, B, C) are reported
Dominant Mode:
Only the coordinate magnitude is reported
Sensitivity
Adjustable (real 600 speed levels resolution)
FOR MORE: [email protected]
with
the
greatest
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains Buttons:
5 virtuell Quicktip, programmable
Interface type:
RS232C Serial
Baud Rate:
9600 baud
Connector:
DSUB 9 Female
Power Supply:
via serial port signals
Dimensions:
L x W x H: 140 x 140 x 45 mm
Weight:
510 gr.
EMC Standards:
FCC, TUV/GS, UL/UR and CE approved
Warranty:
3 Years
7.1.1 VISUAL SPACEMOUSE
n many areas of our daily life we are faced with rather complex tasks that have to be done in circumstances unfavorable for human beings. For example, heavy weights may have to be lifted or the environment may be dangerous and, therefore, the assistance of a machine is needed. Some of these tasks, on the other hand, also need the presence of a human, because the complexity of the task is beyond the capability that an independent robot system is able to handle. Therefore, there is a need for a robot system controlled by a human. A most intuitive controlling device would be a system that can be instructed by watching and imitating the human , using the hand as the major controlling element. This would be a very comfortable interface that allows the to move a robot system in the most natural way. This is called the visual space mouse. The system of the visual space mouse can be divided into two main parts: image processing and robot control. The role of image processing is to perform operations on a video signal, received by a video camera, to extract desired information out of the video signal. The role of robot control is to transform electronic commands into movements of the manipulator.
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A most intuitive controlling device would be a system that can be instructed by watching and imitating the human , using the hand as the major controlling element. This would be a very comfortable interface that allows the to move a robot system in the most natural way. This is called the visual space mouse. The system of the visual space mouse can be divided into two main parts: image processing and robot control. The role of image processing is to perform operations on a video signal, received by a video camera, to extract desired information out of the video signal. The role of robot control is to transform electronic commands into movements of the manipulator. The purpose of this project was to develop a system that is able to control a robotic system by observing the human and directly converting hand gestures into movements of the manipulator. The hand serves as the primary controlling element to effect the actual motion and position of a robot gripper. For the observation of the , one usual greyscale camera is used without any kind of calibration. The manipulator is a PUMA 560 robot with six degrees of freedom and a gripper. We use the image processing language VEIL for image processings. A special feature of VEIL is blobs. These are defined as a brighter region in the image plane within a darker environment. The hand is detected and traced with the help of blobs. This blob contains the
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characteristic values of the image of the hand. The values of the blob are then ed to the control part of the program to affect the actual position of the manipulator. In the mapping from the three-dimensional hand in the world to a blob existing in a two-dimensional plane, a lot of information is lost. In particular, rotations not lying in the image-plane cannot be resolved well. Any rotation with the rotation axis parallel to the image plane will just change the heigth and the width of the object. The sign of the rotation is especially to determined. This is a limitation of 2D image analysis in general. There are only three dimensions that are robustly detectable of an object in a plane: height, width and one rotation in the image plane. The control task of a manipulator with six degrees of freedom is therefore very difficult or even impossible with just 3 values. To handle this problem, and to keep the interface intuitive, a state machine was implemented. The state machine consists of three different levels: two control levels and one transition level. The control levels are used to move the manipulator. FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains The transition level connects the two control levels and affects the gripper of the robot arm. Every time the flat hand is facing the camera, as shown above, the state machine of the controlling unit is in one of two control levels. In each control level the manipulator can be moved in a plane, by moving the hand in the up-down direction or forward-backward direction. The control levels differ in the orientation of the planes in which the manipulator can be moved in. The plane of control level 1 is orthogonal to the plane of control level 2.
To change the control levels the hand has to be turned, so that the side of the flat hand is facing the camera. In this mode the hand can be moved within the sight of the camera without effecting the manipulator. This mode is called the transition mode. If the hand is turned back so that the flat hand is facing the camera again, the state machine of the control unit moves back into the other control level.
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains With the use of the two planes, described previously, only a cubic space in front of the arm can be accessed. With the rotation along the z-axis this cube can be rotated and so the whole area around the manipulator is attainable. The rotation is initiated just by rotating the hand in the imageplane. Also, the gripping gesture is part of the transition level. Placing the gesture of the gripper in the transition level has the advantage that any movement of the hand has no effect on the manipulator itself, which will keep the gripper fixed during the gripping gesture. Experiment An experiment was performed to validate the functions of the system. The task was to assemble a house out of three randomly placed wooden pieces. Several people have been chosen to perform this experiment without any training. Each person was able to successfully finish the task. The experiment showed that the state machine with its two separated control levels was no problem for the candidates. The biggest problem was the gesture for the gripping movement. It became obvious that the choses gripping gesture was nonnatural to perform. The major attempt of this project was to combine an image processing unit with an control unit to achieve a convenient, image-based control system for a manipulator: the visual space-mouse. This intention was achieved successfully. As it was demonstrated by the experiment, a person is able to successfully manage to handle simple manipulation tasks by using the visual space-mouse-system developed as a remote tool. Indeed, it became obvious that the possibilities of controlling a six dimensional manipulator just by using one greyscale camera as input is very limited, because only three dimensions can be robustly observed by the video output.
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CONCLUSION The graphics simulation and manipulation of 3D volume objects and virtual worlds and their combination e.g. with real information as contained in TV images (multi-media) is not only meaningful for space technology, but will strongly change the whole world of manufacturing and
construction
technology,
including
other
areas
like
urban
development, chemistry, biology, and entertainment. For all these applications we believe there is no other man- machine interface technology comparable to Magellan in its simplicity and yet high precision. It is used for 3D manipulations in 6 dof, but at the same time may function as a conventional 2D mouse.
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REFERENCES www.howstuffworks.com www.wikipedia.com http://www-cvr.ai.uiuc.edu/demos/tobias/spacemouse.html www.aalizwel.com www.google.com
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SEMINAR REPORT ON SPACE MOUSE INDEX
S. NO.
CHAPTER
PAGE NO.
1
INTRODUCTION
1
2
HOW DOES A MOUSE WORK??
COMPUTER
2
3
THREE DIMENTIONAL INTERFACE
8
4
MECHATRONICS
10
5
SPACEMOUSE
15
6
MAGELLAN: FEATURES AND BENEFITS
28
7
CONCLUSION
38
8
REFERENCE
39
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains CHAPTER 1
INTRODUCTION Every day of your computing life, you reach out for the mouse whenever you want to move the cursor or activate something. The mouse senses your motion and your clicks and sends them to the computer so it can respond appropriately. An ordinary mouse detects motion in the X and Y plane and acts as a two dimensional controller. It is not well suited for people to use in a 3D graphics environment. Space Mouse is a professional 3D controller specifically designed for manipulating objects in a 3D environment. It permits the simultaneous control of all six degrees of freedom - translation rotation or a combination. . The device serves as an intuitive man-machine interface The predecessor of the spacemouse was the DLR controller ball. Spacemouse has its origins in the late seventies when the DLR (German Aerospace Research Establishment) started research in its robotics and system dynamics division on devices with six degrees of freedom (6 dof) for controlling robot grippers in Cartesian space. The basic principle behind its construction is mechatronics engineering and the multisensory concept. The spacemouse has different modes of operation in which it can also be used as a two-dimensional mouse.
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How does computer mouse work?
Mice first broke onto the public stage with the introduction of the Apple Macintosh in 1984, and since then they have helped to completely redefine the way we use computers. Every day of your computing life, you reach out for your mouse whenever you want to move your cursor or activate something. Your mouse senses your motion and your clicks and sends them to the computer so it can respond appropriately 2.1 Inside a Mouse The main goal of any mouse is to translate the motion of your hand into signals that the computer can use. Almost all mice today do the translation using five components:
Fig.1 The guts of a mouse
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1. A ball inside the mouse touches the desktop and rolls when the mouse moves.
Fig 2 The underside of the mouse's logic board: The exposed portion of the ball touches the desktop. 2. Two rollers inside the mouse touch the ball. One of the rollers is oriented so that it detects motion in the X direction, and the other is oriented 90 degrees to the first roller so it detects motion in the Y direction.
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Fig.3 The rollers that touch the ball and detect X and Y motion 3. When the ball rotates, one or both of these rollers rotate as well. The following image shows the two white rollers on this mouse: 4. The rollers each connect to a shaft, and the shaft spins a disk with holes in it. When roller rolls, its shaft and disk spin. The following image shows the disk:
Fig.4 A typical optical encoding disk: This disk has 36 holes around its outer edge. 4. On either side of the disk there is an infrared LED and an infrared sensor. The holes in the disk break the beam of light coming from the LED so that the infrared sensor sees pulses of light. FOR MORE: [email protected]
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Fig.5 A close-up of one of the optical encoders that track mouse motion: There is an infrared LED (clear) on one side of the disk and an infrared sensor (red) on the other.
The rate of the pulsing is directly related to the speed of the mouse and the distance it travels.
5. An on-board processor chip reads the pulses from the infrared sensors and turns them into binary data that the computer can understand. The chip sends the binary data to the computer through the mouse's cord.
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Fig 6 The logic section of a mouse is dominated by an encoder chip, a small processor that reads the pulses coming from the infrared sensors and
turns
them
into
bytes
sent
to
the
computer. You can also see the two buttons that detect clicks (on either side of the wire connector). In this optomechanical arrangement, the disk moves mechanically, and an optical system counts pulses of light. On this mouse, the ball is 21 mm in diameter. The roller is 7 mm in diameter. The encoding disk has 36 holes. So if the mouse moves 25.4 mm (1 inch), the encoder chip detects 41 pulses of light.
Each encoder disk has two infrared LEDs and two infrared sensors, one on each side of the disk (so there are four LED/sensor pairs inside a mouse). This arrangement allows the processor to detect the disk's direction of rotation. There is a piece of plastic with a small, precisely located hole that sits between the encoder disk and each infrared sensor. This piece of plastic provides a window through which the FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains infrared sensor can "see." The window on one side of the disk is located slightly higher than it is on the other -- one-half the height of one of the holes in the encoder disk, to be exact. That difference causes the two infrared sensors to see pulses of light at slightly different times. There are times when one of the sensors will see a pulse of light when the other does not, and vice versa.
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CHAPTER 3 Three-dimensional interfaces For typical computer displays, three-dimensional is a misnomer—their displays are two-dimensional. Three-dimensional images are projected on them in two dimensions. Since this technique has been in use for many years, the recent use of the term three-dimensional must be considered a declaration by equipment marketers that the speed of three dimension to two dimension projection is adequate to use in standard graphical interfaces.
Three-dimensional graphical interfaces are common in science fiction literature and movies, such as in Jurassic Park, which features Silicon Graphics' three-dimensional file manager, "File system navigator", an actual file manager that never got much widespread use as the interface for a Unix computer. In science fiction, three-dimensional interfaces are often immersible environments like William Gibson's Cyberspace or Neal Stephenson's Metaverse. Three-dimensional graphics are currently mostly used in computer games, art and computer-aided design (CAD). There have been several attempts at making three-dimensional desktop environments like Sun's Project Looking Glass or SphereXP from Sphere Inc. A threedimensional
computing
environment
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could
possibly
be
used
for
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains collaborative work. For example, scientists could study three-dimensional models of molecules in a virtual reality environment, or engineers could work on assembling a three-dimensional model of an airplane. This is a goal of the Croquet project and Project Looking Glass by Java. The use of three-dimensional graphics has become increasingly common in mainstream operating systems, but mainly been confined to creating attractive interfaces—eye candy—rather than for functional purposes only possible using three dimensions. For example, switching is represented by rotating a cube whose faces are each 's workspace, and window management is represented in the form of Exposé on Mac OS X, or via a Rolodex-style flipping mechanism in Windows Vista. In both cases,
the
operating
system
transforms
windows
on-the-fly
while
continuing to update the content of those windows. workspace, and window management is represented in the form of Exposé on Mac OS X, or via a Rolodex-style flipping mechanism in Windows Vista. In both cases, the operating system transforms windows on-the-fly while continuing to update the content of those windows. Interfaces for the X Window System have also implemented advanced three-dimensional interfaces through compositing window managers such as Beryl and Compiz using the AIGLX or XGL architectures, allowing for the usage of OpenGL to animate the 's interactions with the desktop. Another branch in the three-dimensional desktop environment is the three-dimensional graphical interfaces that take the desktop metaphor a step further, like the BumpTop, where a can manipulate documents and windows as if they were "real world" documents, with realistic movement and physics. With the current pace on threedimensional and related hardware evolution, projects such these may reach an operational level soon. FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains CHAPTER 4
MECHATRONICS 4.1 What is Mechatronics engineering? Mechatronics is concerned with the design automation and operational performance of electromechanical systems. Mechatronics engineering is nothing new; it is simply the applications of latest techniques
in
precision
mechanical
engineering,
electronic
and
computer control, computing systems and sensor and actuator technology to design improved products and processes. The basic idea of Mechatronics engineering is to apply innovative controls to extract new level of performance from a mechanical device. It means using modem cost effective technology to improve product and process performance, adaptability and flexibility. Mechatronics covers a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control. A typical Mechatronic system picks up signals processes them and generates forces and motion as an output. In effect mechanical systems are extended and integrated with sensors (to know where things are), microprocessors (to work out what to do), and controllers (to perform the required actions). The word Mechatronics came up describing this fact of having technical systems operating mechanically with respect to some kernel functions but with more or less electronics ing the mechanical parts decisively. Thus we can say that Mechatronics is a blending of Mechanical engineering,Electronics engineering and Computing. These FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains three disciplines are linked together with knowledge of management, manufacturing and marketing. Mechatronics is centered on mechanics, electronics, computing, control engineering, molecular engineering (from nanochemistry andbiology), and optical engineering, which, combined, make possible the generation of simpler, more economical, reliable and versatile systems. The portmanteau "mechatronics" was coined by Tetsuro Mori, the senior engineer of the Japanese company Yaskawa in 1969. An industrial robot is a prime example of a mechatronics system; it includes aspects of electronics, mechanics, and computing to do its day-to-day jobs.
Engineering cybernetics deals with the question of control engineering of mechatronic systems. It is used to control or regulate such a system (see control theory). Through collaboration, the mechatronic modules perform the production goals and inherit flexible and agile manufacturing properties in the production scheme. Modern production equipment consists of mechatronic modules that are integrated according to a control architecture. The most known architectures involve hierarchy, polyarchy, heterarchy, and hybrid. The methods for achieving a technical effect are described by control algorithms, which might or might not utilize formal methods in their design. Hybrid systems important to mechatronics include production systems, synergy drives, planetary exploration rovers, automotive subsystems such as antilock braking systems and spin-assist, and every-day equipment such as autofocus cameras, video, hard disks, and CD players.
For most mechatronic systems, the main issue is no more how to implement a control system, but how to implement actuators and what is the energy source. Within the mechatronic field, mainly two technologies are used to produce the movement: the piezo-electric actuators and motors, or the electromagnetic actuators and motors. Maybe the most famous mechatronics systems are the well known camera autofocus system or camera anti-shake systems. Concerning the energy sources, most of the applications use batteries. But a new trend is arriving and is the energy harvesting, allowing transforming FOR MORE: [email protected]
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4.2 What do Mechatronics engineers do? Mechatronics design covers a wide variety of applications from the physical integration and miniaturization of electronic controllers with mechanical systems to the control of hydraulically powered robots in manufacturing and assembling factories. Computer disk drives are one example of the successful application of Mechatronics engineering as they are required to provide very fast access precise positioning and robustness against various disturbances. An intelligent window shade that opens and closes according to the amount of sun exposure is another example of a Mechatronics application. Mechatronics engineering may be involved in the design of equipments and robots for under water or mining exploration as an alternative to using human beings where this may be dangerous. In fact Mechatronics engineers can be found working in a range of industries and project areas including Design of data collection, instrumentation and computerized machine tools. Intelligent automation
product for
design
household
for
example
transportation
smart and
cars
and
industrial
application. Design of self-diagnostic machines, which fix problems on their own. FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains Medical devices such as life ing systems, scanners and DNA sequencing automation. Robotics and space exploration equipments. Smart domestic consumer goods Computer peripherals. Security systems.
4.3 Mechatronic goals 4.3.1 The multisensory concept The aim was to design a new generation of multi sensory lightweight robots. The new sensor and actuator generation does not only show up a high degree of electronic and processor integration but also
fully
modular
hardware
and
software
structures.
Analog
conditioning, power supply and digital pre-processing are typical subsystems modules of this kind. The 20khz lines connecting all sensor and actuator systems in a galvanically decoupled way and high speed optical serial data bus (SERCOS) are the typical examples of multi sensory and multi actuator concept for the new generation robot envisioned. The main sensory developments finished with these criteria have been in the last years: optically measuring force-torque-sensor for assembly operations. In a more compact form these sensory systems were integrated inside plastic hollow balls, thus generating 6-degree of freedom hand controllers (the DLR control balls). The SPACE-MOUSE is the most recent product based on these ideas. stiff strain-gauge based 6 component force-torque-sensor systems. miniaturized triangulation based laser range finders. integrated inductive t-torque-sensor for light-weight-robot.
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains In order to demonstrate the multi sensory design concept, these types of sensors have been integrated into the multi sensory DLRgripper, which contains 15 sensory components and to our knowledge it is the most complex robot gripper built so far (more than 1000 miniaturized electronic and about 400 mechanical components). It has become a central element of the ROTEX space robot experiment.
CHAPTER 5
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains SPACEMOUSE
Spacemouse is developed by the DLR institute of robotics and mechatronics. DLR- Deutsches Zenturum far Luft-und Raumfahrt 5.1 Why 3D motion? In every area of technology, one can find automata and systems controllable up to six degrees of freedom- three translational and three rotational. Industrial robots made up the most prominent category needing six degrees of freedom by maneuvering six ts to reach any point in their working space with a desired orientation. Even broader there have been a dramatic explosion in the growth of 3D computer graphics. Already in the early eighties, the first wire frame models of volume objects could move smoothly and interactively using so called knob-boxes on the fastest graphics machines available. A separate button controlled each of the six degrees of freedom. Next, graphics systems on the market allowed manipulation of shaded volume models smoothly, i.e. rotate, zoom and shift them and thus look at them from any viewing angle and position. The scenes become more and more complex; e.g. with a "reality engine" the mirror effects on volume car bodies are updated several times per second - a task that needed hours on main frame computers a couple of years ago. Parallel to the rapid graphics development, we observed a clear trend in the field of mechanical design towards constructing and modeling new parts in a 3D environment and transferring the resulting programs to NC machines. The machines are able to work in 5 or 6 degrees of freedom (dof). Thus, it is no surprise that in the last few years, there are increasing demands for comfortable 3D control and FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains manipulation devices for these kinds of systems. Despite breathtaking advancements in digital technology it turned out that digital manmachine interfaces like keyboards are not well suited for people to use as our sensomotory reactions and behaviors are and will remain analogous forever.
s control three-dimensional movement by maneuvering SPACE MOUSE "Classic" spring-mounted cap. Slight finger pressure on the cap will control an object in up to 6 degrees of freedom (X, Y, Z, pitch, roll, and yaw movement) simultaneously. The SPACE MOUSE "Classic" 3D Motion Controller is available for both UNIX and PC platforms to be used with industry standard CAD/CAM, CAE applications such as CATIA, Pro/ENGINEER, I-DEAS or AutoCAD.
Features: Unprecedented ease of use for manipulating objects in 3D applications Calibration- and driftfree sensor technology for high precision and unequaled reliability Nine programmable buttons to customize 's preferences for motion control Finger operation for maximum precision and performance Certified by all major suppliers of CAD/CAM, CAE and visual simulation products Benefits: In CAD/CAM, CAE and visual simulation applications, the 3D Motion Controller is used in conjunction with the normal mouse. As the positions the 3D object with Magellan™, the necessity of going back and forth to a menu is eliminated. Thus, drawing times can be reduced by 20-30%, increasing overall productivity. Other benefits include an improved design comprehension and earlier detection of design errors, contributing to faster time to market and cost savings in the design process.
SPACE MOUSE "Classic" - Product Specifications
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains Operating Modes:
3D interface (six degrees of freedom)
Translation Mode:
Only the translation coordinates (X, Y, X) are reported
Rotation Mode:
Only the rotation coordinates (A, B, C) are reported
Dominant Mode:
Only the coordinate magnitude is reported
Sensitivity
Adjustable (real 600 speed levels resolution)
Buttons:
9, programmable
Interface type:
RS232C Serial
Baud Rate:
9600 baud
Connector:
DSUB 9 Female
Power Supply:
via serial port signals
Dimensions:
L x W x H: 163 x 112 x 40 mm
Weight:
665 gr.
EMC Standards:
FCC, TUV/GS, UL/UR and CE approved
Warranty:
3 Years
Operating Modes:
3D interface (six degrees of freedom)
Translation Mode:
Only the translation coordinates (X, Y, X) are reported
Rotation Mode:
Only the rotation coordinates (A, B, C) are reported
Dominant Mode:
Only the coordinate magnitude is reported
Sensitivity
Adjustable (real 600 speed levels resolution)
Buttons:
9, programmable
Interface type:
RS232C Serial
Baud Rate:
9600 baud
Connector:
DSUB 9 Female
FOR MORE: [email protected]
with
with
the
the
greatest
greatest
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains Power Supply:
via serial port signals
Dimensions:
L x W x H: 163 x 112 x 40 mm
Weight:
665 gr.
EMC Standards:
FCC, TUV/GS, UL/UR and CE approved
Warranty:
3 Years
SpaceMouse® Plus is the award-winning product in the line of professional 3D motion controllers for industrial design and visual simulation applications. It provides intuitive and precise interactive motion control of three-dimensional graphic objects in up to six degrees of freedom simultaneously. This professional input device dramatically increases productivity, improves object comprehension and helps detect design errors earlier.
Spacemouse Plus A -friendly, soft coated cap (electrostatic, ionised method of coating provides a better grip) with a distinctive grip area for thumb, forefinger and middle finger s virtually every single cap movement with the uniquely soft, pressure-sensitive sensor. Dedicated edges improve your emotional attachment to the graphics object and ensure precise object manipulation in 3D space. The V-shaped cap particularly s the "zoom" command, the most commonly used positioning command in 3D design applications. Optimised overall dimensions and generous device weight, produce unsured stability for hassle-free computing experience.
FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains In CAD/CAM, CAE and visual simulation applications, the 3D Motion Controller is used in conjunction with the normal mouse. As the positions the 3D object with SpaceMouse®, the necessity of going back and forth to a menu is eliminated. Thus, drawing times can be reduced by 2030%, increasing overall productivity. Other benefits include an improved design comprehension and earlier detection of design errors, contributing to faster time to market and cost savings in the design process. This 3D motion controller features 11 programmable map keys (plus a Quicktip® button) that let you easily customize the device's sensitivity settings and motion controls. You also may assign applicationspecific tasks to the buttons. The inclined keypad has nine buttons with two additional buttons on each side of the cap for easy access. Its patented hightech core, an opto-electronic and -less measuring system provides six degrees of freedom motion control (X, Y, Z, pitch, roll and yaw) without the need for calibration.
Spacemouse Plus
5.2 DLR control ball, Magellan's predecessor At the end of the seventies, the DLR (German Aerospace Research Establishment) institute for robotics and system dynamics started research on devices for the 6-dof control of robot grippers .in Cartesian FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains space. After lengthy experiments it turned out around 1981 that integrating a six axis force torque sensor (3 force, 3 torque components) into a plastic hollow ball was the optimal solution. Such a ball ed the linear and rotational displacements as generated by the forces/ torques of a human hand, which were then computationally transformed into translational / rotational motion speeds. The first force torque sensor used was based upon strain gauge technology, integrated into a plastic hollow ball. DLR had the basic concept centre of a hollow ball handle approximately coinciding with the measuring centre of an integrated 6 dof force / torque sensor patented in Europe and US. From 1982-1985, the first prototype applications showed that DLR's control ball was not only excellently suited as a control device for robots, but also for the first 3D-graphics system that came onto the market at that time. Wide commercial distribution was prevented by the high sales price of about $8,000 per unit. It took until 1985 for the DLR's developer group to succeed in deg a much cheaper optical measuring system.
5.2.1 Basic principle The new system used 6 one-dimensional position detectors. This system received a worldwide patent. The basic principle is as follows. The measuring system consists of an inner and an outer part. The measuring arrangement in the inner ring is composed of the LED, a slit and perpendicular to the slit on the opposite side of the ring a linear position sensitive detector (PSD). The slit / LED combination is mobile against the remaining system. Six such systems (rotated by 60 degrees each) are mounted in a plane, whereby the slits alternatively are vertical FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains and parallel to the plane. The ring with PSD's is fixed inside the outer part and connected via springs with the LED-slit-basis. The springs bring the inner part back to a neutral position when no forces / torque are exerted: There is a particularly simple and unique. This measuring system is drift-free and not subject to aging effects. The whole electronics including computational processing on a one-chip-processor was already integrable into the ball by means of two small
double
sided
surface
mount
device
(SMD)
boards,
the
manufacturing costs were reduced to below $1,000, but the sales price still hovered in the area of $3,000. The original hopes of the developers group that the license companies might be able to redevelop devices towards much lower manufacturing costs did not materialize. On the other hand, with ing
of
time, other
technologically
comparable
ball
systems
appeared on the market especially in USA. They differed only in the type of measuring system. Around 1990, like cyberspace and virtual reality became popular. However, the effort required to steer oneself around in a virtual world using helmet and glove tires one out quickly. Movements were measured by electromagnetic or ultrasonic means,
with
the
human
head
having
problems
in
controlling
translational speeds. In addition, moving the hand around in free space leads to fairly fast fatigue. Thus a redesign of the ball idea seemed urgent.
5.3 Magellan (the European Spacemouse): FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains the result of a long development chain With the developments explained in the previous sections, DLR's development group started a transfer company, SPACE CONTROL and addressed a clear goal: To redesign the control ball idea with its unsured opto electronic measuring system and optimize it thus that to reduce manufacturing costs to a fraction of its previous amount and thus allow it to approach the pricing level of high quality PC mouse at least long-term.
Fig 7.Spacemouse system The new manipulation device would also be able to function as a conventional mouse and appear like one, yet maintain its versatility in a real workstation design environment. The result of an intense oneyear's work was the European SpaceMouse, in the USA it is especially in the European market place. But end of 93, DLR and SPACE
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains CONTROL tly approached LOGITECH because of their wide expertise with pointing devices for computers to market and sell Magellan in USA and Asia. The wear resistant and drift free opto electronic, 6 component measuring system was optimized to place all the electronics, including the analogous signal processing, AT conversion, computational evaluation and power supply on only one side of a tiny SMD- board inside Magellan's handling cap. It only needs a few milliamperes of current supplied through the serial port of any PC or standard mouse interface. It does not need a dedicated power supply. The electronic circuitry using a lot of time multiplex technology was simplified by a factor of five, compared to the former control balls mentioned before. The unbelievably tedious mechanical optimization, where the simple adjustment of the PSD's with respect to the slits played a central role in its construction, finally led to 3 simple injection moulding parts, namely the basic housing, a cap handle with the measuring system inside and the small nine button keyboard system. The housing, a punched steel plate provides Magellan with the necessary weight for stability; any kind of metal cutting was avoided. The small board inside the cap (including a beeper) takes diverse mechanical functions as well. For example, it contains the automatically mountable springs as well as overload protection. The springs were optimized in the measuring system so that they no longer show hysteresis; nevertheless different stiffness of the cap are realizable by selection of appropriate springs. Ergonomically, Magellan was constructed as flat as can be so that the human hand may rest on it without fatigue. Slight pressures of the fingers on the cap of Magellan is sufficient for generating deflections in X, Y, and Z planes, thus shifting a cursor or flying a 3D graphics object translationally through space. Slight twists of the cap cause rotational motions of a 3D graphics object around the corresponding axes. Pulling the cap in the Z direction corresponds to zooming function. Moving the FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains cap in X or Y direction drags the horizontally and vertically respectively on the screen. Twisting the cap over one of the main axes or any combination of them rotates the object over the corresponding axis on the screen. The can handle the
object on the screen a he were
holding it in his own left hand and helping the right hand to undertake the constructive actions on specific points lines or surfaces or simply by unconsciously bringing to the front of appropriate perspective view of any necessary detail of the object. With the integration of nine additional key buttons any macro functions can be mapped onto one of the keys thus allowing the most frequent function to be called by a slight finger touch from the left hand. The device has special features like dominant mode. It uses those degrees of freedom in which the greatest magnitude is generated. So defined movements can be created. Connection to the computer is through a 3m cable (DB9 female) and platform adapter if necessary. Use of handshake signals (RTSSCTS) are recommended for the safe operation of the spacemouse. Without these handshake signals loss of data may occur. Additional signal lines are provided to power the Magellan (DTS&RTS). Thus, no additional power supply is needed. Flying an object in 6 dof is done intuitively without any strain. In a similar way, flying oneself through a virtual world is just fun. Touching the keys results in either the usual menu selection, mode selection or the pickup of 3D objects.
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fig 8 Spacemouse
Every day of your computing life, you reach out for the mouse whenever you want to move the cursor or activate something. The mouse senses your motion and your clicks and sends them to the computer so it can respond appropriately. An ordinary mouse detects motion in the X and Y plane and acts as a two dimensional controller. It is not well suited for people to use in a 3D graphics environment. Space Mouse is a professional 3D controller specifically designed for manipulating objects in a 3D environment. It permits the simultaneous control of all six degrees of freedom - translation rotation or a combination. . The device serves as an intuitive man-machine interface The predecessor of the spacemouse was the DLR controller ball. Spacemouse has its origins in the late seventies when the DLR (German Aerospace Research Establishment) started research in its robotics and system dynamics division on devices with six degrees of freedom (6 dof) for controlling robot grippers in Cartesian space. The basic principle FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains behind
its
construction
is
mechatronics
engineering
and
the
multisensory concept. The spacemouse has different modes of operation in which it can also be used as a two-dimensional mouse.
5.4 Table-1
Technical specifications of spacemouse
Magellan/SpaceMouse Classic is used in conjunction with the normal mouse (or tablet). The intuitively positions an object with Magellan/SpaceMouse while working on that object using the mouse. Slight pressure of the fingers onto the ÒcapÓ is sufficient for generating small deflections of a 3D graphic object. This corresponds to the natural way of executing coordinated operations with both hands and s intuitive creativity without interrupting the natural thought process. Additionally, the ergonomic design of a flat cap reduces stress in the hand and arm. P a t e n t e d H i g h - Te c h C o r e Magellan/SpaceMouse 3D Motion Controller translates your sense of touch into dynamic movement of objects within 3D space. FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains ItÕs patented high-tech core (license DLR), an opto-electronic and less measuring system provides 6 degrees of freedom motion control (X, Y, Z, pitch, roll and yaw) without the need for calibration. Magellan/SpaceMouse technology has been optimized and miniaturized in such a way that it works with standard serial interfaces without any additional power supply.
Magellan/SpaceMouse Classic is a space-proven, highly reliable professional product, manufactured according to the strictest quality standards of Logitech, the worldÕs leading manufacturer of control devices. Specifications Operating Modes 3D Interface Ð 6 degrees of freedom Translation Mode Only the translation coordinates (X, Y, Z) are reported Rotation Mode Only the rotation coordinates (A, B, C) are reported Dominant Mode Only the coordinate with the greatest magnitude is reported Sensitivity Adjustable (600 speed levels resolution) Buttons 9, programmable Interface Type RS-232C Serial Baud Rate 9600 baud Connector DB 9 Female Power Supply Serial port signals Weight 665 grams Dimensions L x W x H 165 x 112 x 40mm EMC Standards FCC, CE and EMI approved
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CHAPTER 6
MAGELLAN: FEATURES AND BENEFITS 6.1 Features Ease of use of manipulating objects in 3D applications. Calibration free sensor technology for high precision and unique reliability. Nine programmable buttons to customize s preference for motion control Fingertip operation for maximum precision and performance. Settings to adjust sensitivity and motion control to the s preference. Small form factor frees up the desk space. Double productivity of object manipulation in 3D applications. Natural hand position (resting on table) eliminates fatigue. 6.2 Benefits As the positions the 3D objects with the Magellan device the necessity of going back and forth to the menu is eliminated. Drawing times is reduced by 20%-30% increasing overall productivity. With the Magellan device improved design comprehension is possible and earlier detection of design errors contributing faster time to market and cost savings in the design process. Any computer whose graphics power allows to update at least 5 frames per second of the designed scenery, and which has a standard RS232 interface, can make use of the full potential of Magellan spacemouse. In 3D applications Magellan is used in conjunction with a 2D mouse. The positions an object with FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains spacemouse while working on the object using a mouse. We can consider it as a workman holding an object in his left hand and working on it with a tool in his right hand. Now Magellan spacemouse is becoming something for standard input device for interactive motion control of 3D graphics objects in its working environment and for many other applications.
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CHAPTER 7
FUTURE SCOPE 7.1 FUTURE SCOPE Magellan's predecessor, DLR's control ball, was a key element of the first real robot inspace, ROTEX- (3), which was launched in April 93 with space shuttle COLUMBIA inside a rack of the spacelab-D2. The robot was directly teleoperated by the astronauts using the control ball, the same way remotely controlled from ground (on-line and off line) implying "predictive" stereographics. As an example, the ground operator with one of the two balls or Magellans steered the robot's gripper in the graphics presimulation, while with the second device he was able to move the whole scenery around smoothly in 6 dot Predictive graphics simulation together with the above mentioned man machine interaction allowed for the compensation of overall signal delays up to seven seconds, the most spectacular accomplishment being the grasping of a floating object in space from the ground. Since then, ROTEX has often been declared as the first real "virtual reality" application. SPACE MOUSE "Plus" is the newest award-winning product in the line of professional 3D motion controllers for industrial design and visual simulation applications. It provides intuitive and precise interactive motion control of three-dimensional graphic objects in up to six degrees of freedom simultaneously. This professional input device dramatically increases productivity, improves object comprehension and helps detect design errors earlier. A new, -friendly cap with a distinctive grip area for thumb, forefinger and middle finger s virtually every single cap movement with the uniquely soft, pressure-sensitive sensor. Dedicated edges improve your emotional attachment to the graphics object and ensure precise object manipulation in 3D space. The V-shaped cap particularly s the "zoom" command, the most commonly used positioning command in 3D design applications. Optimized overall dimensions and generous device weight, produce unsured stability for hassle-free computing experience. This 3D motion controller features 11 programmable map keys that let you easily customize the device's sensitivity settings and motion controls. You also may assign application-specific tasks to the buttons. The FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains inclined keypad has nine buttons with two additional buttons on each side of the cap for easy access. Its patented high-tech core, an opto-electronic and -less measuring system provides six degrees of freedom motion control (X, Y, Z, pitch, roll and yaw) without the need for calibration.
SPACE MOUSE "Plus" - Product Specifications Operating Modes:
3D interface (six degrees of freedom)
Translation Mode:
Only the translation coordinates (X, Y, X) are reported
Rotation Mode:
Only the rotation coordinates (A, B, C) are reported
Dominant Mode:
Only the coordinate magnitude is reported
Sensitivity
Adjustable (real 600 speed levels resolution)
Buttons:
11, programmable
Interface type:
RS232C Serial
Baud Rate:
9600 baud
Connector:
DSUB 9 Female
Power Supply:
via serial port signals
Dimensions:
L x W x H: 188 x 120 x 44 mm
Weight:
720 grams
EMC Standards:
FCC, TUV/GS, UL/UR and CE approved
Warranty:
3 Years
FOR MORE: [email protected]
with
the
greatest
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Cyberpuck
CYBERPUCK is the world's first six-degrees of freedom, 3D web navigation device. While the normal mouse clicks represents a repetitive and tedious way of designating direction for navigation in 3D space, Cyberpuck allows the to "fly through" in a seamless and intuitive way. Particularly in the field of professional, multi- graphics applications, Cyberpuck creates an entirely new way of real-time communication ("collaborative engineering").
Cyperpuck
-
Product
Specifications
Operating Modes:
3D interface (six degrees of freedom)
Translation Mode:
Only the translation coordinates (X, Y, X) are reported
Rotation Mode:
Only the rotation coordinates (A, B, C) are reported
Dominant Mode:
Only the coordinate magnitude is reported
Sensitivity
Adjustable (real 600 speed levels resolution)
FOR MORE: [email protected]
with
the
greatest
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains Buttons:
5 virtuell Quicktip, programmable
Interface type:
RS232C Serial
Baud Rate:
9600 baud
Connector:
DSUB 9 Female
Power Supply:
via serial port signals
Dimensions:
L x W x H: 140 x 140 x 45 mm
Weight:
510 gr.
EMC Standards:
FCC, TUV/GS, UL/UR and CE approved
Warranty:
3 Years
7.1.1 VISUAL SPACEMOUSE
n many areas of our daily life we are faced with rather complex tasks that have to be done in circumstances unfavorable for human beings. For example, heavy weights may have to be lifted or the environment may be dangerous and, therefore, the assistance of a machine is needed. Some of these tasks, on the other hand, also need the presence of a human, because the complexity of the task is beyond the capability that an independent robot system is able to handle. Therefore, there is a need for a robot system controlled by a human. A most intuitive controlling device would be a system that can be instructed by watching and imitating the human , using the hand as the major controlling element. This would be a very comfortable interface that allows the to move a robot system in the most natural way. This is called the visual space mouse. The system of the visual space mouse can be divided into two main parts: image processing and robot control. The role of image processing is to perform operations on a video signal, received by a video camera, to extract desired information out of the video signal. The role of robot control is to transform electronic commands into movements of the manipulator.
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A most intuitive controlling device would be a system that can be instructed by watching and imitating the human , using the hand as the major controlling element. This would be a very comfortable interface that allows the to move a robot system in the most natural way. This is called the visual space mouse. The system of the visual space mouse can be divided into two main parts: image processing and robot control. The role of image processing is to perform operations on a video signal, received by a video camera, to extract desired information out of the video signal. The role of robot control is to transform electronic commands into movements of the manipulator. The purpose of this project was to develop a system that is able to control a robotic system by observing the human and directly converting hand gestures into movements of the manipulator. The hand serves as the primary controlling element to effect the actual motion and position of a robot gripper. For the observation of the , one usual greyscale camera is used without any kind of calibration. The manipulator is a PUMA 560 robot with six degrees of freedom and a gripper. We use the image processing language VEIL for image processings. A special feature of VEIL is blobs. These are defined as a brighter region in the image plane within a darker environment. The hand is detected and traced with the help of blobs. This blob contains the
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characteristic values of the image of the hand. The values of the blob are then ed to the control part of the program to affect the actual position of the manipulator. In the mapping from the three-dimensional hand in the world to a blob existing in a two-dimensional plane, a lot of information is lost. In particular, rotations not lying in the image-plane cannot be resolved well. Any rotation with the rotation axis parallel to the image plane will just change the heigth and the width of the object. The sign of the rotation is especially to determined. This is a limitation of 2D image analysis in general. There are only three dimensions that are robustly detectable of an object in a plane: height, width and one rotation in the image plane. The control task of a manipulator with six degrees of freedom is therefore very difficult or even impossible with just 3 values. To handle this problem, and to keep the interface intuitive, a state machine was implemented. The state machine consists of three different levels: two control levels and one transition level. The control levels are used to move the manipulator. FOR MORE: [email protected]
WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains The transition level connects the two control levels and affects the gripper of the robot arm. Every time the flat hand is facing the camera, as shown above, the state machine of the controlling unit is in one of two control levels. In each control level the manipulator can be moved in a plane, by moving the hand in the up-down direction or forward-backward direction. The control levels differ in the orientation of the planes in which the manipulator can be moved in. The plane of control level 1 is orthogonal to the plane of control level 2.
To change the control levels the hand has to be turned, so that the side of the flat hand is facing the camera. In this mode the hand can be moved within the sight of the camera without effecting the manipulator. This mode is called the transition mode. If the hand is turned back so that the flat hand is facing the camera again, the state machine of the control unit moves back into the other control level.
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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains With the use of the two planes, described previously, only a cubic space in front of the arm can be accessed. With the rotation along the z-axis this cube can be rotated and so the whole area around the manipulator is attainable. The rotation is initiated just by rotating the hand in the imageplane. Also, the gripping gesture is part of the transition level. Placing the gesture of the gripper in the transition level has the advantage that any movement of the hand has no effect on the manipulator itself, which will keep the gripper fixed during the gripping gesture. Experiment An experiment was performed to validate the functions of the system. The task was to assemble a house out of three randomly placed wooden pieces. Several people have been chosen to perform this experiment without any training. Each person was able to successfully finish the task. The experiment showed that the state machine with its two separated control levels was no problem for the candidates. The biggest problem was the gesture for the gripping movement. It became obvious that the choses gripping gesture was nonnatural to perform. The major attempt of this project was to combine an image processing unit with an control unit to achieve a convenient, image-based control system for a manipulator: the visual space-mouse. This intention was achieved successfully. As it was demonstrated by the experiment, a person is able to successfully manage to handle simple manipulation tasks by using the visual space-mouse-system developed as a remote tool. Indeed, it became obvious that the possibilities of controlling a six dimensional manipulator just by using one greyscale camera as input is very limited, because only three dimensions can be robustly observed by the video output.
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CONCLUSION The graphics simulation and manipulation of 3D volume objects and virtual worlds and their combination e.g. with real information as contained in TV images (multi-media) is not only meaningful for space technology, but will strongly change the whole world of manufacturing and
construction
technology,
including
other
areas
like
urban
development, chemistry, biology, and entertainment. For all these applications we believe there is no other man- machine interface technology comparable to Magellan in its simplicity and yet high precision. It is used for 3D manipulations in 6 dof, but at the same time may function as a conventional 2D mouse.
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REFERENCES www.howstuffworks.com www.wikipedia.com http://www-cvr.ai.uiuc.edu/demos/tobias/spacemouse.html www.aalizwel.com www.google.com
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