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Development of a haptic force-feedback joystick for excavators
This project is about the hardware and software development of a joystick that has force feedback and can be used in an excavator.
Keywords: joystick, haptic feedback, motor control, mechanical design, hardware, software
The Robotic System Labs (RSL) is working on a fully autonomous walking excavator. On the way towards full autonomy, we are also exploring teleoperation of the machine as well as augmenting the operator.
The goal of this project would be the development of a fully electric force feedback joystick. This joystick could be used in teleoperation to replace the low quality gaming joysticks of IBEX (https://ibex.ethz.ch/#home). The feedback of the forces at the shovel on the joysticks could help the remote operator to use the machine in a safer and more efficient manner.
This electric joystick could also replace the hydraulic joystick in the walking excavator. The benefit of electric joysticks would again be force feedback plus the possibility of helping the user in certain tasks, e.g. moving the shovel in a straight line.
The development would only include the two major axes of the joystick. The upper part with buttons and knobs will be provided by the machine manufacturer. A first idea envisions the two joystick axes to be built from to direct drive motors with precise absolute encoders for reading the joystick position/command. Direct drive motors can be torque controlled and are thus perfectly suited for haptic feedback.
The Robotic System Labs (RSL) is working on a fully autonomous walking excavator. On the way towards full autonomy, we are also exploring teleoperation of the machine as well as augmenting the operator.
The goal of this project would be the development of a fully electric force feedback joystick. This joystick could be used in teleoperation to replace the low quality gaming joysticks of IBEX (https://ibex.ethz.ch/#home). The feedback of the forces at the shovel on the joysticks could help the remote operator to use the machine in a safer and more efficient manner.
This electric joystick could also replace the hydraulic joystick in the walking excavator. The benefit of electric joysticks would again be force feedback plus the possibility of helping the user in certain tasks, e.g. moving the shovel in a straight line.
The development would only include the two major axes of the joystick. The upper part with buttons and knobs will be provided by the machine manufacturer. A first idea envisions the two joystick axes to be built from to direct drive motors with precise absolute encoders for reading the joystick position/command. Direct drive motors can be torque controlled and are thus perfectly suited for haptic feedback.
- Hardware development of the 2-dof mechanism of the joystick
- Development of the electronics to control the two motors
- Software development on the microcontroller for controlling position, velocity and torque of the motor
- Software development on the host computer to command the joysticks
- Implementation of a simple spring-damper behavior of the joystick
- Test on the excavator and IBEX at Hönggerberg
if master thesis:
- Investigate feedback from shovel/cylinder forces on the joystick
- How does this influence operator efficiency/accuracy if installed in the machine?
- How does it improve safety or efficiency when used in IBEX as a teleoperation device?
- Test with experienced operator
- Hardware development of the 2-dof mechanism of the joystick - Development of the electronics to control the two motors - Software development on the microcontroller for controlling position, velocity and torque of the motor - Software development on the host computer to command the joysticks - Implementation of a simple spring-damper behavior of the joystick - Test on the excavator and IBEX at Hönggerberg
if master thesis: - Investigate feedback from shovel/cylinder forces on the joystick - How does this influence operator efficiency/accuracy if installed in the machine? - How does it improve safety or efficiency when used in IBEX as a teleoperation device? - Test with experienced operator
- Highly motivated student
- Working independently
- Interdisciplinary skills (hardware, software, electronics)
- Some C/C++ knowledge
- Highly motivated student - Working independently - Interdisciplinary skills (hardware, software, electronics) - Some C/C++ knowledge
Dominic Jud, djud@ethz.ch
Philipp Leemann, pleemann@ethz.ch
Dominic Jud, djud@ethz.ch Philipp Leemann, pleemann@ethz.ch