PlayStation Control
The PlayStation joystick will enable control of the arm in cartesian world space - i.e. in the X, Y & Z directions and the Gripper orientation around the X,Y & Z wrist centre. The main robot co-processor handles all the mathematical conversions between the motions of the joystick and the motions of the robot. The joystick will also control the speed and resultant accelerations of the wrist end resolved in to the X, Y & Z directions. The latter is key to drive the end of the arm along certain trajectory paths that the user desires it to go. i.e its not just moving the robot gripper from point A to point B that is important - but also all the relative speeds between each joint to ensure a specific path is followed. The Joystick will also have buttons programmed to control the gripper operation. The joystick will operate the robot in the most failsafe way in terms of speed and position - using a technique called ‘rate control’. When the joystick is central and ‘let go’ (intentionally or accidentally ) to its spring return position - the robot gripper end stops moving in all 3 cartesian directions - X, Y & Z. By moving the joystick in a certain direction - the path it follows can be controlled - while the speed is controlled by the distance the joystick moves from centre.