23-08-2014, 10:37 AM
Space Mouse On Seminar Report
[attachment=66915]
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.
ABSTRACT
Space mouse opens a new age for man-machine communication. This device
is based on the technology used to control the first robot in space and has been adapted
for a wide range of tasks including mechanical design, real time video animation and
visual simulation. It has become a standard input device for interactive motion control
of three-dimensional graphic objects in up to six degrees of freedom. Space mouse
works with standard serial mouse interface without an additional power supply. The
ergonomic design allows the human hand to rest on it without fatigue. Thus flying an
object in six degrees of freedom is done without any strain
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
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:
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. When the ball rotates, one or
both of these rollers rotate as well. The following image shows the two white
rollers on this mouse: The rollers each connect to a shaft, and the shaft spins a disk with holes in it.
When a roller rolls, its shaft and disk spin. The following image shows the disk:
MECHATRONICS
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).
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
SPACEMOUSE
Spacemouse is developed by the DLR institute of robotics and mechatronics.
DLR- Deutsches Zenturum far Luft-und Raumfahrt
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 joints 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 (dot). Thus, it is no surprise that in the
last few years, there are increasing demands for comfortable 3D control and
manipulation devices for these kinds of systems. Despite breathtaking advancements
in digital technology it turned out that digital man- machine interfaces like keyboards Space Mouse
are not well suited for people to use as our sensomotory reactions
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 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
registered 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 designing a much cheaper
optical measuring system.
Benefits
As the user 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 user positions an object with 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.
FUTURE SCOPE AND CONCLUSION
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.
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.
[attachment=66915]
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.
ABSTRACT
Space mouse opens a new age for man-machine communication. This device
is based on the technology used to control the first robot in space and has been adapted
for a wide range of tasks including mechanical design, real time video animation and
visual simulation. It has become a standard input device for interactive motion control
of three-dimensional graphic objects in up to six degrees of freedom. Space mouse
works with standard serial mouse interface without an additional power supply. The
ergonomic design allows the human hand to rest on it without fatigue. Thus flying an
object in six degrees of freedom is done without any strain
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
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:
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. When the ball rotates, one or
both of these rollers rotate as well. The following image shows the two white
rollers on this mouse: The rollers each connect to a shaft, and the shaft spins a disk with holes in it.
When a roller rolls, its shaft and disk spin. The following image shows the disk:
MECHATRONICS
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).
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
SPACEMOUSE
Spacemouse is developed by the DLR institute of robotics and mechatronics.
DLR- Deutsches Zenturum far Luft-und Raumfahrt
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 joints 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 (dot). Thus, it is no surprise that in the
last few years, there are increasing demands for comfortable 3D control and
manipulation devices for these kinds of systems. Despite breathtaking advancements
in digital technology it turned out that digital man- machine interfaces like keyboards Space Mouse
are not well suited for people to use as our sensomotory reactions
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 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
registered 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 designing a much cheaper
optical measuring system.
Benefits
As the user 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 user positions an object with 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.
FUTURE SCOPE AND CONCLUSION
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.
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.