Force Feedback Control

The use of force feedback to control tele-operated manipulators on robots allows the operator of the 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.

In the top photo at right, the robot is used to install a pin in a high precision environment, where there is only 0.010-inch clearance between the rod diameter and the hole diameter. Using force feedback, the operator is able to "feel" the robot go into the hole and complete the assembly. Without force feedback, the operator was not able to complete the assembly. With force control, the same operator inserted the pin within 2 minutes.

The middle photo dipicts performance of a test where an egg is supported against a wall, using a manipulator capable of lifting 250 pounds. 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.

Project Contact: J. Tucker