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Force Feedback Control

Force Control Supporting an Egg

Technology Category: Advanced Control Systems

Description: Another issue that the PNNL has addressed is the use of force feedback in control of tele-operated manipulators. Force feedback control allows the operator of a robot to feel the forces that the robot is exerting on its environment. This gives the robot the ability to accomplish tasks that are otherwise unachievable. For instance, in the first picture above, the robot is used to install a pin in a high precision environment, where there is only 0.010" clearance between the rod diameter and the hole diameter. Using force feedback, the operator is able to "feel" it go into the hole and, therefore, complete the assembly. Without force feedback, our operators were not able to complete the assembly. With force control, the same operator was able to insert the pin within 2 minutes. In the second photo, another test is performed, where an egg is supported against a wall, using a manipulator capable of lifting 250 lbs. Without force feedback, the egg would surely be crushed. Instead, the software controls the robot, and does not allow it to exert a large force on the egg. Note, the plastic bag on the egg is to keep the lab clean when the robot is turned off.

Tight Clearance Assembly

Force Reflecting 6 DOF Master Controller

Point of Contact: Joseph C Tucker (509) 375-2811