Photos

Up Photos Modeling HIL Testing Design Work Plan Haptics Control Testing Documents Spec Sheets Sponsors Site Map

Multi Degree of Freedom Haptic Control

Power Supply / Junction Box


custom circuit board
circuit board (populated)
internal connections
front panel

Valve & Tubing Modifications


frame & valves
valves mounted
PHANToM tray
hydraulic system complete

Rebuilding / Reassembling Backhoe


stick sensor mount
 boom & stick installed
bucket sensor mount
 
bucket installed
backhoe rebuilt

pressing old pin out of dipperstick
newly painted parts ready for assembly
swing sensor installed
cylinder w/ integrated position sensor
testing boom cylinder position sensor

Dismantling Backhoe for Modifications

Single Degree of Freedom Computer Control


Joe and Matt on the first day of 1-dof control.


Haptic Backhoe Control System

Video Clip 1 (avi 4.7M)
Video Clip 2 (avi 7.0M)
marginal stability (avi 4.5M)

Digging the old fashioned way


Dr. Book looking quite at home using the backhoe in the traditional "manual" mode.
[ Video Clip (avi 17.9M)]

Backhoe and Phantom at start of project

     
This is how the model 4410 tractor with model 47 backhoe attachment looked when it was first delivered to Georgia Tech.


Picture showing the existing Gresen V20 valve bank. Power Beyond (supply) connection is at the left, tank connection is at the right.


Picture of the PHANTOM Premium Haptic Interface.