Characterizing The Response Of A Force Feedback Joystick
Name
noguera-jnoguera-sb-meche-2023-thesis.pdf
Description
Thesis PDF
Size
32.79 MB
Format
Adobe PDF
Checksum (MD5)
7014d354e24e69700bbb215308413ae7
Author(s)
Noguera, Joshua
Advisor(s)
Krebs, Hermano Igo
Date Issued
June 2023
Publisher
Massachusetts Institute of Technology
Abstract
The 77 Lab has created a joystick capable of force feedback to be part of their excavator simulator. Using the joystick, they will study the effects of force feedback on novice and experienced heavy machinery users and with the goal of understanding how force feedback can affect learning quality and speed. To create this force feedback and Proportional Derivative controller was selected. By sweeping control loop parameters of a PD controller, the stability region for this joystick was found. In addition further experiments were conducted to characterize the effects of control loop frequency, set position, and springs. Ultimately it was found that the system preforms significantly better at higher control loop frequencies near 600Hz when compared to 300Hz, it has asymmetrical performance in specific directions, and that springs provide a significant improvement towards the stability of the system.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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In Copyright - Educational Use Permitted
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