Prof. Greg R. Luecke Profile

Prof. Greg R. Luecke

Associate Professor at Iowa State Univ

SPIE Involvement:

Author

Proceedings Article | 5 February 2002 Paper

Stability effects of singularities in force-controlled robotic assist devices

Greg Luecke

Proceedings Volume 4570, (2002) https://doi.org/10.1117/12.454743

KEYWORDS: Control systems, Robotics, Kinematics, Manufacturing, Motion controllers, Motion measurement, Composites, Interfaces, Injuries, Transducers

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Force feedback is being used as an interface between humans and material handling equipment to provide an intuitive method to control large and bulky payloads. Powered actuation in the lift assist device compensates for the inertial characteristics of the manipulator and the payload to provide effortless control and handling of manufacturing parts, components, and assemblies. The use of these Intelligent Assist Devices (IAD) is being explored to prevent worker injury, enhance material handling performance, and increase productivity in the workplace. The IAD also provides the capability to shape and control motion in the workspace during routine operations. Virtual barriers can be developed to protect fixed objects in the workspace, and regions can be programmed that attract the work piece to a certain position and orientation. However, the robot is still under complete control of the human operator, with the trajectory being determined and commanded using the judgment of the operator to complete a given task. In many cases, the IAD is built in a configuration that may have singular points inside the workspace. These singularities can cause problems when the unstructured trajectory commands from the human cause interaction between the IAD and the virtual walls and fixtures at positions close to these singularities. The research presented here explores the stability effects of the interactions between the powered manipulator and the virtual surfaces when controlled by the operator. Because of the flexible nature of the human decisions determining the real time work piece paths, manipulator singularities that occur in conjunction with the virtual surfaces raise stability issues in the performance around these singularities. We examine these stability issues in the context of a particular IAD configuration, and present analytic results for the performance and stability of these systems in response to the real-time trajectory modification of the human operator.

Proceedings Article | 2 March 2001 Paper

Control of lift assist devices for performance enhancement

Greg Luecke, Kok-Leong Tan, Sean Mahrt

Proceedings Volume 4195, (2001) https://doi.org/10.1117/12.417309

KEYWORDS: Control systems, Sensors, Actuators, Servomechanisms, Robotics, Transducers, Motion controllers, Collision avoidance, Computer simulations, Device simulation

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Proceedings Article | 2 March 2001 Paper

Constraint coupling of force and motion between real and virtual mechanisms

Greg Luecke, Naci Zafer

Proceedings Volume 4195, (2001) https://doi.org/10.1117/12.417317

KEYWORDS: Haptic technology, Virtual reality, Robotics, Kinematics, Human-machine interfaces, Control systems, Motion measurement, Device simulation, Feedback control, Computing systems

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Proceedings Article | 8 November 1999 Paper

Collision avoidance and task planning using impedance force fields

Greg Luecke, Kok-Leong Tan, Naci Zafer

Proceedings Volume 3840, (1999) https://doi.org/10.1117/12.369276

KEYWORDS: Control systems, Transducers, Motion controllers, Manufacturing, Interfaces, Motion measurement, Collision avoidance, Robotics, Human-machine interfaces, Actuators

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Proceedings Article | 18 December 1998 Paper

Haptic feedback for virtual assembly

Greg Luecke, Naci Zafer

Proceedings Volume 3524, (1998) https://doi.org/10.1117/12.333675

KEYWORDS: Haptic technology, Virtual reality, Motion models, Computer simulations, Robotics, Visualization, Computer aided design, Interfaces, Control systems, Manufacturing

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Proceedings Article | 18 December 1998 Paper

Augmented heavy lift assist devices for enhanced safety performance

Greg Luecke, Kok-Leong Tan, Gary Simpson

Proceedings Volume 3524, (1998) https://doi.org/10.1117/12.333691

KEYWORDS: Control systems, Actuators, Safety, Virtual reality, Injuries, Computer simulations, Motion models, Manufacturing, Kinematics, Modulation

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Proceedings Article | 17 December 1996 Paper

Force-interactive virtual reality using local joint error control

Greg Luecke, James Edwards, Brian Miller

Proceedings Volume 2901, (1996) https://doi.org/10.1117/12.263012

KEYWORDS: Control systems, Virtual reality, Error control coding, Space robots, Interfaces, Human-machine interfaces, Motion models, Haptic technology, Visualization, Transducers

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Showing 5 of 7 publications

Conference Committee Involvement (1)

Telemanipulator and Telepresence Technologies VII

5 November 2000 | Boston, MA, United States

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