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Seminar Report on Space Mouse

Seminar Report on Space Mouse

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SEMINAR REPORT ON SPACE MOUSE
INDEX

S. NO. 1 2 3 4 5 6 7 8

CHAPTER

PAGE NO. 1 COMPUTER 2 8 10 15 28 38 39

INTRODUCTION
HOW DOES A MOUSE WORK??

THREE DIMENTIONAL USER INTERFACE MECHATRONICS SPACEMOUSE MAGELLAN: FEATURES AND BENEFITS CONCLUSION REFERENCE

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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains CHAPTER 1

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.

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WWW.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains CHAPTER 2

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 2.1 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:

Fig.1 The guts of a mouse

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1. A ball inside the mouse touches the desktop and rolls when the mouse moves.

Fig 2 The underside of the mouse's logic board: The exposed portion of the ball touches the desktop. 2. 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.

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AALIZWEL. The following image shows the disk: Fig. The rollers each connect to a shaft. On either side of the disk there is an infrared LED and an infrared sensor. The following image shows the two white rollers on this mouse: 4.4 A typical optical encoding disk: This disk has 36 holes around its outer edge. When roller rolls. and the shaft spins a disk with holes in it. When the ball rotates.com@gmail. The holes in the disk break the beam of light coming from the LED so that the infrared sensor sees pulses of light. one or both of these rollers rotate as well.com . FOR MORE: aalizwel. 4.COM Its Time only for SUNSHINE & RAINS without any Pains Fig.WWW. its shaft and disk spin.3 The rollers that touch the ball and detect X and Y motion 3.

com@gmail.WWW.5 A close-up of one of the optical encoders that track mouse motion: There is an infrared LED (clear) on one side of the disk and an infrared sensor (red) on the other. The chip sends the binary data to the computer through the mouse's cord. The rate of the pulsing is directly related to the speed of the mouse and the distance it travels.COM Its Time only for SUNSHINE & RAINS without any Pains Fig. 5.AALIZWEL. An on-board processor chip reads the pulses from the infrared sensors and turns them into binary data that the computer can understand. FOR MORE: aalizwel.com .

In this optomechanical arrangement. one on each side of the disk (so there are four LED/sensor pairs inside a mouse). The roller is 7 mm in diameter. the encoder chip detects 41 pulses of light.AALIZWEL. a small processor that reads the pulses coming from the infrared sensors and turns them into bytes sent to the computer. precisely located hole that sits between the encoder disk and each infrared sensor. So if the mouse moves 25. and an optical system counts pulses of light. Each encoder disk has two infrared LEDs and two infrared sensors. This arrangement allows the processor to detect the disk's direction of rotation.WWW. On this mouse.4 mm (1 inch). You can also see the two buttons that detect clicks (on either side of the wire connector). There is a piece of plastic with a small.COM Its Time only for SUNSHINE & RAINS without any Pains Fig 6 The logic section of a mouse is dominated by an encoder chip.com . the disk moves mechanically.com@gmail. This piece of plastic provides a window through which the FOR MORE: aalizwel. the ball is 21 mm in diameter. The encoding disk has 36 holes.

one-half the height of one of the holes in the encoder disk. to be exact.COM Its Time only for SUNSHINE & RAINS without any Pains infrared sensor can "see.AALIZWEL. FOR MORE: aalizwel.WWW. and vice versa. There are times when one of the sensors will see a pulse of light when the other does not." The window on one side of the disk is located slightly higher than it is on the other -. That difference causes the two infrared sensors to see pulses of light at slightly different times.com .com@gmail.

such as in Jurassic Park. Since this technique has been in use for many years. Three-dimensional graphics are currently mostly used in computer games. "File system navigator".AALIZWEL. Three-dimensional images are projected on them in two dimensions. an actual file manager that never got much widespread use as the user interface for a Unix computer. the recent use of the term three-dimensional must be considered a declaration by equipment marketers that the speed of three dimension to two dimension projection is adequate to use in standard graphical user interfaces. In science fiction.com@gmail. A threedimensional computing environment could possibly be used for FOR MORE: aalizwel.com . There have been several attempts at making three-dimensional desktop environments like Sun's Project Looking Glass or SphereXP from Sphere Inc.COM Its Time only for SUNSHINE & RAINS without any Pains CHAPTER 3 Three-dimensional user interfaces For typical computer displays. art and computer-aided design (CAD). Three-dimensional graphical user interfaces are common in science fiction literature and movies. which features Silicon Graphics' three-dimensional file manager. three-dimensional user interfaces are often immersible environments like William Gibson's Cyberspace or Neal Stephenson's Metaverse. three-dimensional is a misnomer—their displays are two-dimensional.WWW.

scientists could study three-dimensional models of molecules in a virtual reality environment.AALIZWEL. and window management is represented in the form of Exposé on Mac OS X. FOR MORE: aalizwel.WWW. the operating system transforms windows on-the-fly while continuing to update the content of those windows.com . and window management is represented in the form of Exposé on Mac OS X. The use of three-dimensional graphics has become increasingly common in mainstream operating systems. like the BumpTop. or engineers could work on assembling a three-dimensional model of an airplane.com@gmail. Another branch in the three-dimensional desktop environment is the three-dimensional graphical user interfaces that take the desktop metaphor a step further. This is a goal of the Croquet project and Project Looking Glass by Java. For example. the operating system transforms windows on-the-fly while continuing to update the content of those windows. Interfaces for the X Window System have also implemented advanced three-dimensional user interfaces through compositing window managers such as Beryl and Compiz using the AIGLX or XGL architectures. or via a Rolodex-style flipping mechanism in Windows Vista. For example. With the current pace on threedimensional and related hardware evolution. workspace. allowing for the usage of OpenGL to animate the user's interactions with the desktop. with realistic movement and physics. but mainly been confined to creating attractive interfaces—eye candy—rather than for functional purposes only possible using three dimensions. or via a Rolodex-style flipping mechanism in Windows Vista. user switching is represented by rotating a cube whose faces are each user's workspace. where a user can manipulate documents and windows as if they were "real world" documents. In both cases. projects such these may reach an operational level soon.COM Its Time only for SUNSHINE & RAINS without any Pains collaborative work. In both cases.

com@gmail. A typical Mechatronic system picks up signals processes them and generates forces and motion as an output. it is simply the applications of latest techniques in precision mechanical engineering. In effect mechanical systems are extended and integrated with sensors (to know where things are).com .Electronics engineering and Computing. It means using modem cost effective technology to improve product and process performance. adaptability and flexibility. Thus we can say that Mechatronics is a blending of Mechanical engineering. Mechatronics engineering is nothing new. The word Mechatronics came up describing this fact of having technical systems operating mechanically with respect to some kernel functions but with more or less electronics supporting the mechanical parts decisively. The basic idea of Mechatronics engineering is to apply innovative controls to extract new level of performance from a mechanical device. microprocessors (to work out what to do).WWW. electronic and computer control. Mechatronics covers a wide range of application areas including consumer product design.1 What is Mechatronics engineering? Mechatronics is concerned with the design automation and operational performance of electromechanical systems.COM Its Time only for SUNSHINE & RAINS without any Pains CHAPTER 4 MECHATRONICS 4. computing systems and sensor and actuator technology to design improved products and processes. computer integration and process and device control. These FOR MORE: aalizwel. and controllers (to perform the required actions).AALIZWEL. instrumentation. manufacturing methods.

but how to implement actuators and what is the energy source. mainly two technologies are used to produce the movement: the piezo-electric actuators and motors. molecular engineering (from nanochemistry andbiology). Hybrid systems important to mechatronics include production systems. The methods for achieving a technical effect are described by control algorithms. and CD players.AALIZWEL. Through collaboration. But a new trend is arriving and is the energy harvesting. computing. synergy drives. polyarchy. For most mechatronic systems.com@gmail. the senior engineer of the Japanese company Yaskawa in 1969. mechanics. the main issue is no more how to implement a control system. combined. more economical. An industrial robot is a prime example of a mechatronics system. most of the applications use batteries. make possible the generation of simpler. Concerning the energy sources. and optical engineering. Engineering cybernetics deals with the question of control engineering of mechatronic systems. or the electromagnetic actuators and motors. Mechatronics is centered on mechanics. reliable and versatile systems. and hybrid. Maybe the most famous mechatronics systems are the well known camera autofocus system or camera anti-shake systems. The portmanteau "mechatronics" was coined by Tetsuro Mori. manufacturing and marketing. Within the mechatronic field. and every-day equipment such as autofocus cameras. control engineering. and computing to do its day-to-day jobs. hard disks. automotive subsystems such as antilock braking systems and spin-assist. heterarchy. the mechatronic modules perform the production goals and inherit flexible and agile manufacturing properties in the production scheme. which. It is used to control or regulate such a system (see control theory). electronics.WWW. allowing transforming FOR MORE: aalizwel. which might or might not utilize formal methods in their design. Modern production equipment consists of mechatronic modules that are integrated according to a control architecture. The most known architectures involve hierarchy. it includes aspects of electronics.com . planetary exploration rovers. video.COM Its Time only for SUNSHINE & RAINS without any Pains three disciplines are linked together with knowledge of management.

FOR MORE: aalizwel.com@gmail.com product for design for example smart and cars and household transportation industrial . 4.2 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.COM Its Time only for SUNSHINE & RAINS without any Pains into electricity mechanical energy from shock.AALIZWEL. 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. Design of self-diagnostic machines. In fact Mechatronics engineers can be found working in a range of industries and project areas including Design of data collection. Intelligent automation application. instrumentation and computerized machine tools.WWW. 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. or thermal energy from thermal variation. which fix problems on their own. vibration. An intelligent window shade that opens and closes according to the amount of sun exposure is another example of a Mechatronics application. and so on.

1 The multisensory concept The aim was to design a new generation of multi sensory lightweight robots. 4. integrated inductive joint-torque-sensor for light-weight-robot. The main sensory developments finished with these criteria have been in the last years: optically measuring force-torque-sensor for assembly operations. Smart domestic consumer goods Computer peripherals.com@gmail. power supply and digital pre-processing are typical subsystems modules of this kind.AALIZWEL. Analog conditioning. stiff strain-gauge based 6 component force-torque-sensor systems.WWW. The new sensor and actuator generation does not only show up a high degree of electronic and processor integration but also fully modular hardware and software structures. miniaturized triangulation based laser range finders.com . The 20khz lines connecting all sensor and actuator systems in a galvanically decoupled way and high speed optical serial data bus (SERCOS) are the typical examples of multi sensory and multi actuator concept for the new generation robot envisioned. FOR MORE: aalizwel. scanners and DNA sequencing automation. In a more compact form these sensory systems were integrated inside plastic hollow balls. The SPACE-MOUSE is the most recent product based on these ideas. Robotics and space exploration equipments. thus generating 6-degree of freedom hand controllers (the DLR control balls).3 Mechatronic goals 4.3. Security systems.COM Its Time only for SUNSHINE & RAINS without any Pains Medical devices such as life supporting systems.

CHAPTER 5 FOR MORE: aalizwel.COM Its Time only for SUNSHINE & RAINS without any Pains In order to demonstrate the multi sensory design concept. which contains 15 sensory components and to our knowledge it is the most complex robot gripper built so far (more than 1000 miniaturized electronic and about 400 mechanical components). It has become a central element of the ROTEX space robot experiment.WWW.com .com@gmail.AALIZWEL. these types of sensors have been integrated into the multi sensory DLRgripper.

1 Why 3D motion? In every area of technology. Thus. there are increasing demands for comfortable 3D control and FOR MORE: aalizwel. it is no surprise that in the last few years.Deutsches Zenturum far Luft-und Raumfahrt 5.com . graphics systems on the market allowed manipulation of shaded volume models smoothly. zoom and shift them and thus look at them from any viewing angle and position.g. A separate button controlled each of the six degrees of freedom. i. 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. Even broader there have been a dramatic explosion in the growth of 3D computer graphics. Already in the early eighties. e.AALIZWEL. DLR.e. The machines are able to work in 5 or 6 degrees of freedom (dof). Parallel to the rapid graphics development.WWW. 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. one can find automata and systems controllable up to six degrees of freedom. with a "reality engine" the mirror effects on volume car bodies are updated several times per second . Next.three translational and three rotational.COM Its Time only for SUNSHINE & RAINS without any Pains SPACEMOUSE Spacemouse is developed by the DLR institute of robotics and mechatronics. rotate. The scenes become more and more complex.com@gmail.a task that needed hours on main frame computers a couple of years ago. the first wire frame models of volume objects could move smoothly and interactively using so called knob-boxes on the fastest graphics machines available.

Other benefits include an improved design comprehension and earlier detection of design errors. the necessity of going back and forth to a menu is eliminated. pitch.com@gmail. Pro/ENGINEER. As the user positions the 3D object with Magellan&trade. drawing times can be reduced by 20-30%. CAE and visual simulation products Benefits: In CAD/CAM. Features: Unprecedented ease of use for manipulating objects in 3D applications Calibration. and yaw movement) simultaneously. Users control three-dimensional movement by maneuvering SPACE MOUSE "Classic" spring-mounted cap.and driftfree sensor technology for high precision and unequaled reliability Nine programmable buttons to customize user's preferences for motion control Finger operation for maximum precision and performance Certified by all major suppliers of CAD/CAM.COM Its Time only for SUNSHINE & RAINS without any Pains manipulation devices for these kinds of systems. The SPACE MOUSE "Classic" 3D Motion Controller is available for both UNIX and PC platforms to be used with industry standard CAD/CAM. Thus. I-DEAS or AutoCAD. Slight finger pressure on the cap will control an object in up to 6 degrees of freedom (X.AALIZWEL. contributing to faster time to market and cost savings in the design process. Despite breathtaking advancements in digital technology it turned out that digital manmachine interfaces like keyboards are not well suited for people to use as our sensomotory reactions and behaviors are and will remain analogous forever.. increasing overall productivity.Product Specifications FOR MORE: aalizwel. SPACE MOUSE "Classic" . the 3D Motion Controller is used in conjunction with the normal mouse. Y. CAE applications such as CATIA.WWW. roll.com . Z. CAE and visual simulation applications.

com . C) are reported Only the coordinate magnitude is reported with the greatest Adjustable (real 600 speed levels resolution) 9. FCC. programmable RS232C Serial 9600 baud DSUB 9 Female via serial port signals L x W x H: 163 x 112 x 40 mm 665 gr. UL/UR and CE approved 3 Years 3D interface (six degrees of freedom) Only the translation coordinates (X. Y.com@gmail. X) are reported Only the rotation coordinates (A. C) are reported Only the coordinate magnitude is reported with the greatest Adjustable (real 600 speed levels resolution) 9. B. programmable RS232C Serial 9600 baud DSUB 9 Female FOR MORE: aalizwel.AALIZWEL. Y. B. X) are reported Only the rotation coordinates (A. TUV/GS.WWW.COM Its Time only for SUNSHINE & RAINS without any Pains Operating Modes: Translation Mode: Rotation Mode: Dominant Mode: Sensitivity Buttons: Interface type: Baud Rate: Connector: Power Supply: Dimensions: Weight: EMC Standards: Warranty: Operating Modes: Translation Mode: Rotation Mode: Dominant Mode: Sensitivity Buttons: Interface type: Baud Rate: Connector: 3D interface (six degrees of freedom) Only the translation coordinates (X.

UL/UR and CE approved 3 Years SpaceMouse® Plus is the award-winning product in the line of professional 3D motion controllers for industrial design and visual simulation applications. This professional input device dramatically increases productivity. ionised method of coating provides a better grip) with a distinctive grip area for thumb.AALIZWEL. Dedicated edges improve your emotional attachment to the graphics object and ensure precise object manipulation in 3D space.WWW. FOR MORE: aalizwel. the most commonly used positioning command in 3D design applications. improves object comprehension and helps detect design errors earlier. Optimised overall dimensions and generous device weight. forefinger and middle finger supports virtually every single cap movement with the uniquely soft. It provides intuitive and precise interactive motion control of three-dimensional graphic objects in up to six degrees of freedom simultaneously.com .com@gmail. Spacemouse Plus A user-friendly. pressure-sensitive sensor.COM Its Time only for SUNSHINE & RAINS without any Pains Power Supply: Dimensions: Weight: EMC Standards: Warranty: via serial port signals L x W x H: 163 x 112 x 40 mm 665 gr. The V-shaped cap particularly supports the "zoom" command. TUV/GS. produce unsurpassed stability for hassle-free computing experience. soft coated cap (electrostatic. FCC.

This premium 3D motion controller features 11 programmable map keys (plus a Quicktip® button) that let you easily customize the device's sensitivity settings and motion controls. the 3D Motion Controller is used in conjunction with the normal mouse. the DLR (German Aerospace Research Establishment) institute for robotics and system dynamics started research on devices for the 6-dof control of robot grippers . contributing to faster time to market and cost savings in the design process.in Cartesian FOR MORE: aalizwel. drawing times can be reduced by 2030%. increasing overall productivity. the necessity of going back and forth to a menu is eliminated. As the user positions the 3D object with SpaceMouse®. Spacemouse Plus 5.WWW. Magellan's predecessor At the end of the seventies.com@gmail. CAE and visual simulation applications. roll and yaw) without the need for calibration.com . Its patented hightech core. Z.COM Its Time only for SUNSHINE & RAINS without any Pains In CAD/CAM. You also may assign applicationspecific tasks to the buttons. pitch.2 DLR control ball. Thus. Y. an opto-electronic and contact-less measuring system provides six degrees of freedom motion control (X. Other benefits include an improved design comprehension and earlier detection of design errors. The inclined keypad has nine buttons with two additional buttons on each side of the cap for easy access.AALIZWEL.

The first force torque sensor used was based upon strain gauge technology. integrated into a plastic hollow ball. 3 torque components) into a plastic hollow ball was the optimal solution.com . The slit / LED combination is mobile against the remaining system.AALIZWEL. the first prototype applications showed that DLR's control ball was not only excellently suited as a control device for robots. This system received a worldwide patent. The measuring system consists of an inner and an outer part. From 1982-1985. The basic principle is as follows. Wide commercial distribution was prevented by the high sales price of about $8. The measuring arrangement in the inner ring is composed of the LED. which were then computationally transformed into translational / rotational motion speeds.2. It took until 1985 for the DLR's developer group to succeed in designing a much cheaper optical measuring system. Six such systems (rotated by 60 degrees each) are mounted in a plane. 5. After lengthy experiments it turned out around 1981 that integrating a six axis force torque sensor (3 force. 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.000 per unit.1 Basic principle The new system used 6 one-dimensional position detectors.COM Its Time only for SUNSHINE & RAINS without any Pains space. Such a ball registered the linear and rotational displacements as generated by the forces/ torques of a human hand.WWW. but also for the first 3D-graphics system that came onto the market at that time.com@gmail. whereby the slits alternatively are vertical FOR MORE: aalizwel. a slit and perpendicular to the slit on the opposite side of the ring a linear position sensitive detector (PSD).

The ring with PSD's is fixed inside the outer part and connected via springs with the LED-slit-basis. the manufacturing costs were reduced to below $1.000. The original hopes of the developers group that the license companies might be able to redevelop devices towards much lower manufacturing costs did not materialize. In addition.com . Around 1990. On the other hand.WWW. This measuring system is drift-free and not subject to aging effects.3 Magellan (the European Spacemouse): FOR MORE: aalizwel. The springs bring the inner part back to a neutral position when no forces / torque are exerted: There is a particularly simple and unique. 5. Movements were measured by electromagnetic or ultrasonic means. with the human head having problems in controlling translational speeds. the effort required to steer oneself around in a virtual world using helmet and glove tires one out quickly. Thus a redesign of the ball idea seemed urgent. but the sales price still hovered in the area of $3. terms like cyberspace and virtual reality became popular.AALIZWEL.COM Its Time only for SUNSHINE & RAINS without any Pains and parallel to the plane. with passing of time.000. The whole electronics including computational processing on a one-chip-processor was already integrable into the ball by means of two small double sided surface mount device (SMD) boards. They differed only in the type of measuring system. However. moving the hand around in free space leads to fairly fast fatigue. other technologically comparable ball systems appeared on the market especially in USA.com@gmail.

yet maintain its versatility in a real workstation design environment.AALIZWEL. SPACE CONTROL and addressed a clear goal: To redesign the control ball idea with its unsurpassed opto electronic measuring system and optimize it thus that to reduce manufacturing costs to a fraction of its previous amount and thus allow it to approach the pricing level of high quality PC mouse at least long-term.Spacemouse system The new manipulation device would also be able to function as a conventional mouse and appear like one.COM Its Time only for SUNSHINE & RAINS without any Pains the result of a long development chain With the developments explained in the previous sections. But end of 93. DLR's development group started a transfer company.com@gmail.com . Fig 7. DLR and SPACE FOR MORE: aalizwel.WWW. in the USA it is especially in the European market place. The result of an intense oneyear's work was the European SpaceMouse.

COM Its Time only for SUNSHINE & RAINS without any Pains CONTROL jointly approached LOGITECH because of their wide expertise with pointing devices for computers to market and sell Magellan in USA and Asia. Moving the FOR MORE: aalizwel. it contains the automatically mountable springs as well as overload protection. The springs were optimized in the measuring system so that they no longer show hysteresis. It does not need a dedicated power supply. 6 component measuring system was optimized to place all the electronics. The small board inside the cap (including a beeper) takes diverse mechanical functions as well.board inside Magellan's handling cap. compared to the former control balls mentioned before. The wear resistant and drift free opto electronic. any kind of metal cutting was avoided. Y. nevertheless different stiffness of the cap are realizable by selection of appropriate springs. thus shifting a cursor or flying a 3D graphics object translationally through space.WWW.com@gmail. For example. The housing. AT conversion. Pulling the cap in the Z direction corresponds to zooming function. finally led to 3 simple injection moulding parts. namely the basic housing. Magellan was constructed as flat as can be so that the human hand may rest on it without fatigue. a punched steel plate provides Magellan with the necessary weight for stability. Ergonomically. It only needs a few milliamperes of current supplied through the serial port of any PC or standard mouse interface.AALIZWEL. including the analogous signal processing. a cap handle with the measuring system inside and the small nine button keyboard system. Slight twists of the cap cause rotational motions of a 3D graphics object around the corresponding axes. computational evaluation and power supply on only one side of a tiny SMD. The unbelievably tedious mechanical optimization. The electronic circuitry using a lot of time multiplex technology was simplified by a factor of five.com . and Z planes. Slight pressures of the fingers on the cap of Magellan is sufficient for generating deflections in X. where the simple adjustment of the PSD's with respect to the slits played a central role in its construction.

With the integration of nine additional key buttons any macro functions can be mapped onto one of the keys thus allowing the user most frequent function to be called by a slight finger touch from the left hand. Additional signal lines are provided to power the Magellan (DTS&RTS).com@gmail. The device has special features like dominant mode. no additional power supply is needed.com .COM Its Time only for SUNSHINE & RAINS without any Pains cap in X or Y direction drags the horizontally and vertically respectively on the screen. Flying an object in 6 dof is done intuitively without any strain. Connection to the computer is through a 3m cable (DB9 female) and platform adapter if necessary.AALIZWEL. In a similar way. The user can handle the object on the screen a he were holding it in his own left hand and helping the right hand to undertake the constructive actions on specific points lines or surfaces or simply by unconsciously bringing to the front of appropriate perspective view of any necessary detail of the object. Without these handshake signals loss of data may occur. Twisting the cap over one of the main axes or any combination of them rotates the object over the corresponding axis on the screen. Use of handshake signals (RTSSCTS) are recommended for the safe operation of the spacemouse. FOR MORE: aalizwel. So defined movements can be created. flying oneself through a virtual world is just fun. mode selection or the pickup of 3D objects.WWW. It uses those degrees of freedom in which the greatest magnitude is generated. Thus. Touching the keys results in either the usual menu selection.

WWW. Space Mouse is a professional 3D controller specifically designed for manipulating objects in a 3D environment.COM Its Time only for SUNSHINE & RAINS without any Pains fig 8 Spacemouse Every day of your computing life.com@gmail. The basic principle FOR MORE: aalizwel.AALIZWEL. The mouse senses your motion and your clicks and sends them to the computer so it can respond appropriately.com .translation rotation or a combination. It is not well suited for people to use in a 3D graphics environment. The device serves as an intuitive man-machine interface The predecessor of the spacemouse was the DLR controller ball. you reach out for the mouse whenever you want to move the cursor or activate something. An ordinary mouse detects motion in the X and Y plane and acts as a two dimensional controller. 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. . It permits the simultaneous control of all six degrees of freedom .

com@gmail. The user intuitively positions an object with Magellan/SpaceMouse while working on that object using the mouse. FOR MORE: aalizwel.com . 5.4 Table-1 Technical specifications of spacemouse Magellan/SpaceMouse Classic is used in conjunction with the normal mouse (or tablet). This corresponds to the natural way of executing coordinated operations with both hands and supports intuitive creativity without interrupting the natural thought process. Additionally. The spacemouse has different modes of operation in which it can also be used as a two-dimensional mouse.Te c h C o r e Magellan/SpaceMouse 3D Motion Controller translates your sense of touch into dynamic movement of objects within 3D space.COM Its Time only for SUNSHINE & RAINS without any Pains behind its construction is mechatronics engineering and the multisensory concept. the ergonomic design of a flat cap reduces stress in the hand and arm.AALIZWEL.WWW. Slight pressure of the fingers onto the ÒcapÓ is sufficient for generating small deflections of a 3D graphic object. P a t e n t e d H i g h .

COM Its Time only for SUNSHINE & RAINS without any Pains ItÕs patented high-tech core (license DLR). Z.com . highly reliable professional product. Specifications Operating Modes 3D Interface Ð 6 degrees of freedom Translation Mode Only the translation coordinates (X. programmable Interface Type RS-232C Serial Baud Rate 9600 baud Connector DB 9 Female Power Supply Serial port signals Weight 665 grams Dimensions L x W x H 165 x 112 x 40mm EMC Standards FCC. manufactured according to the strictest quality standards of Logitech. Z) are reported Rotation Mode Only the rotation coordinates (A. B. Y. Y. pitch. Magellan/SpaceMouse technology has been optimized and miniaturized in such a way that it works with standard serial interfaces without any additional power supply. the worldÕs leading manufacturer of control devices. roll and yaw) without the need for calibration.AALIZWEL. an opto-electronic and contactless measuring system provides 6 degrees of freedom motion control (X. CE and EMI approved FOR MORE: aalizwel.WWW. C) are reported Dominant Mode Only the coordinate with the greatest magnitude is reported Sensitivity Adjustable (600 speed levels resolution) Buttons 9. Magellan/SpaceMouse Classic is a space-proven.com@gmail.

AALIZWEL. In 3D applications Magellan is used in conjunction with a 2D mouse. 6.1 Features Ease of use of manipulating objects in 3D applications.WWW. The user positions an object with FOR MORE: aalizwel. Drawing times is reduced by 20%-30% increasing overall productivity. Nine programmable buttons to customize users preference for motion control Fingertip operation for maximum precision and performance.com . Small form factor frees up the desk space. Double productivity of object manipulation in 3D applications.2 Benefits As the user positions the 3D objects with the Magellan device the necessity of going back and forth to the menu is eliminated.com@gmail. can make use of the full potential of Magellan spacemouse. 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. 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. Settings to adjust sensitivity and motion control to the users preference.COM Its Time only for SUNSHINE & RAINS without any Pains CHAPTER 6 MAGELLAN: FEATURES AND BENEFITS 6. Natural hand position (resting on table) eliminates fatigue. Calibration free sensor technology for high precision and unique reliability.

com .AALIZWEL. 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.com@gmail. 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. FOR MORE: aalizwel.COM Its Time only for SUNSHINE & RAINS without any Pains spacemouse while working on the object using a mouse.WWW.

This premium 3D motion controller features 11 programmable map keys that let you easily customize the device's sensitivity settings and motion controls. the ground operator with one of the two balls or Magellans steered the robot's gripper in the graphics presimulation. the same way remotely controlled from ground (on-line and off line) implying "predictive" stereographics. Dedicated edges improve your emotional attachment to the graphics object and ensure precise object manipulation in 3D space. forefinger and middle finger supports virtually every single cap movement with the uniquely soft. which was launched in April 93 with space shuttle COLUMBIA inside a rack of the spacelab-D2.com@gmail. user-friendly cap with a distinctive grip area for thumb. 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 V-shaped cap particularly supports the "zoom" command. You also may assign application-specific tasks to the buttons. As an example. the most commonly used positioning command in 3D design applications. ROTEX. ROTEX has often been declared as the first real "virtual reality" application. The FOR MORE: aalizwel.AALIZWEL.WWW. improves object comprehension and helps detect design errors earlier. The robot was directly teleoperated by the astronauts using the control ball. produce unsurpassed stability for hassle-free computing experience. SPACE MOUSE "Plus" is the newest award-winning product in the line of professional 3D motion controllers for industrial design and visual simulation applications. was a key element of the first real robot inspace.COM Its Time only for SUNSHINE & RAINS without any Pains CHAPTER 7 FUTURE SCOPE 7.com .1 FUTURE SCOPE Magellan's predecessor.(3). the most spectacular accomplishment being the grasping of a floating object in space from the ground. A new. Since then. pressure-sensitive sensor. This professional input device dramatically increases productivity. DLR's control ball. It provides intuitive and precise interactive motion control of three-dimensional graphic objects in up to six degrees of freedom simultaneously. Optimized overall dimensions and generous device weight.

Y. Z. an opto-electronic and contact-less measuring system provides six degrees of freedom motion control (X. TUV/GS. programmable RS232C Serial 9600 baud DSUB 9 Female via serial port signals L x W x H: 188 x 120 x 44 mm 720 grams FCC.com .com@gmail. X) are reported Only the rotation coordinates (A. SPACE MOUSE "Plus" . Y.COM Its Time only for SUNSHINE & RAINS without any Pains inclined keypad has nine buttons with two additional buttons on each side of the cap for easy access.AALIZWEL. UL/UR and CE approved 3 Years FOR MORE: aalizwel. roll and yaw) without the need for calibration.WWW. Its patented high-tech core. C) are reported Only the coordinate magnitude is reported with the greatest Adjustable (real 600 speed levels resolution) 11.Product Specifications Operating Modes: Translation Mode: Rotation Mode: Dominant Mode: Sensitivity Buttons: Interface type: Baud Rate: Connector: Power Supply: Dimensions: Weight: EMC Standards: Warranty: 3D interface (six degrees of freedom) Only the translation coordinates (X. pitch. B.

COM Its Time only for SUNSHINE & RAINS without any Pains Cyberpuck CYBERPUCK is the world's first six-degrees of freedom. While the normal mouse clicks represents a repetitive and tedious way of designating direction for navigation in 3D space. Cyberpuck creates an entirely new way of real-time communication ("collaborative engineering").com .com@gmail. B. multi-user graphics applications.WWW.AALIZWEL. C) are reported Only the coordinate magnitude is reported with the greatest Adjustable (real 600 speed levels resolution) FOR MORE: aalizwel. X) are reported Only the rotation coordinates (A. Cyperpuck Operating Modes: Translation Mode: Rotation Mode: Dominant Mode: Sensitivity - Product Specifications 3D interface (six degrees of freedom) Only the translation coordinates (X. Y. 3D web navigation device. Particularly in the field of professional. Cyberpuck allows the user to "fly through" in a seamless and intuitive way.

the assistance of a machine is needed. to extract desired information out of the video signal. received by a video camera. TUV/GS. because the complexity of the task is beyond the capability that an independent robot system is able to handle.AALIZWEL. Therefore.com .COM Its Time only for SUNSHINE & RAINS without any Pains Buttons: Interface type: Baud Rate: Connector: Power Supply: Dimensions: Weight: EMC Standards: Warranty: 5 virtuell Quicktip.1 VISUAL SPACEMOUSE n many areas of our daily life we are faced with rather complex tasks that have to be done in circumstances unfavorable for human beings. This is called the visual space mouse. UL/UR and CE approved 3 Years 7.com@gmail. using the hand as the major controlling element.WWW. The role of robot control is to transform electronic commands into movements of the manipulator. also need the presence of a human. The system of the visual space mouse can be divided into two main parts: image processing and robot control.1. programmable RS232C Serial 9600 baud DSUB 9 Female via serial port signals L x W x H: 140 x 140 x 45 mm 510 gr. For example. The role of image processing is to perform operations on a video signal. This would be a very comfortable interface that allows the user to move a robot system in the most natural way. FOR MORE: aalizwel. Some of these tasks. heavy weights may have to be lifted or the environment may be dangerous and. FCC. there is a need for a robot system controlled by a human. on the other hand. A most intuitive controlling device would be a system that can be instructed by watching and imitating the human user. therefore.

to extract desired information out of the video signal. This is called the visual space mouse.AALIZWEL. The purpose of this project was to develop a system that is able to control a robotic system by observing the human and directly converting hand gestures into movements of the manipulator. The system of the visual space mouse can be divided into two main parts: image processing and robot control.com . This blob contains the FOR MORE: aalizwel. The manipulator is a PUMA 560 robot with six degrees of freedom and a gripper. We use the image processing language VEIL for image processings. These are defined as a brighter region in the image plane within a darker environment. A special feature of VEIL is blobs. The hand serves as the primary controlling element to effect the actual motion and position of a robot gripper. one usual greyscale camera is used without any kind of calibration. The role of robot control is to transform electronic commands into movements of the manipulator. The role of image processing is to perform operations on a video signal. The hand is detected and traced with the help of blobs. received by a video camera.WWW. using the hand as the major controlling element.COM Its Time only for SUNSHINE & RAINS without any Pains A most intuitive controlling device would be a system that can be instructed by watching and imitating the human user.com@gmail. For the observation of the user. This would be a very comfortable interface that allows the user to move a robot system in the most natural way.

com@gmail.AALIZWEL. and to keep the user interface intuitive. The control task of a manipulator with six degrees of freedom is therefore very difficult or even impossible with just 3 values.com . The state machine consists of three different levels: two control levels and one transition level. The control levels are used to move the manipulator. The sign of the rotation is especially to determined.WWW. a state machine was implemented. a lot of information is lost. rotations not lying in the image-plane cannot be resolved well. Any rotation with the rotation axis parallel to the image plane will just change the heigth and the width of the object. There are only three dimensions that are robustly detectable of an object in a plane: height. The values of the blob are then passed to the control part of the program to affect the actual position of the manipulator. This is a limitation of 2D image analysis in general.COM Its Time only for SUNSHINE & RAINS without any Pains characteristic values of the image of the hand. FOR MORE: aalizwel. In the mapping from the three-dimensional hand in the world to a blob existing in a two-dimensional plane. To handle this problem. width and one rotation in the image plane. In particular.

Every time the flat hand is facing the camera.AALIZWEL. If the hand is turned back so that the flat hand is facing the camera again. The control levels differ in the orientation of the planes in which the manipulator can be moved in. This mode is called the transition mode. as shown above.COM Its Time only for SUNSHINE & RAINS without any Pains The transition level connects the two control levels and affects the gripper of the robot arm. by moving the hand in the up-down direction or forward-backward direction.com . To change the control levels the hand has to be turned. so that the side of the flat hand is facing the camera. In this mode the hand can be moved within the sight of the camera without effecting the manipulator.com@gmail. In each control level the manipulator can be moved in a plane. the state machine of the control unit moves back into the other control level. the state machine of the controlling unit is in one of two control levels. FOR MORE: aalizwel. The plane of control level 1 is orthogonal to the plane of control level 2.WWW.

The biggest problem was the gesture for the gripping movement.com . The major attempt of this project was to combine an image processing unit with an control unit to achieve a convenient. This intention was achieved successfully. The rotation is initiated just by rotating the hand in the imageplane. It became obvious that the choses gripping gesture was nonnatural to perform. The task was to assemble a house out of three randomly placed wooden pieces. image-based control system for a manipulator: the visual space-mouse. Each person was able to successfully finish the task. only a cubic space in front of the arm can be accessed. The experiment showed that the state machine with its two separated control levels was no problem for the candidates.com@gmail. described previously. FOR MORE: aalizwel. With the rotation along the z-axis this cube can be rotated and so the whole area around the manipulator is attainable. because only three dimensions can be robustly observed by the video output. Experiment An experiment was performed to validate the functions of the system. Several people have been chosen to perform this experiment without any training. Placing the gesture of the gripper in the transition level has the advantage that any movement of the hand has no effect on the manipulator itself. a person is able to successfully manage to handle simple manipulation tasks by using the visual space-mouse-system developed as a remote tool.COM Its Time only for SUNSHINE & RAINS without any Pains With the use of the two planes.WWW. As it was demonstrated by the experiment.AALIZWEL. Also. Indeed. which will keep the gripper fixed during the gripping gesture. the gripping gesture is part of the transition level. it became obvious that the possibilities of controlling a six dimensional manipulator just by using one greyscale camera as input is very limited.

but will strongly change the whole world of manufacturing and construction technology. For all these applications we believe there is no other man. biology. including other areas like urban development.com@gmail. FOR MORE: aalizwel. It is used for 3D manipulations in 6 dof. and entertainment.g. chemistry. with real information as contained in TV images (multi-media) is not only meaningful for space technology.WWW.com .AALIZWEL.machine interface technology comparable to Magellan in its simplicity and yet high precision. but at the same time may function as a conventional 2D mouse.COM Its Time only for SUNSHINE & RAINS without any Pains CONCLUSION The graphics simulation and manipulation of 3D volume objects and virtual worlds and their combination e.

google.com www.edu/demos/tobias/spacemouse.com www.howstuffworks.uiuc.WWW.aalizwel.COM Its Time only for SUNSHINE & RAINS without any Pains REFERENCES www.com .html www.com http://www-cvr.ai.AALIZWEL.com FOR MORE: aalizwel.wikipedia.com@gmail.

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