Joystick

Abstract

The invention relates to improved multi-axis joysticks and associated multi-axis optical displacement measurement means. The joystick may comprise elements movable with respect to each other in at least, e.g., three degrees of freedom and comprise ionically conductive elements that are utilized to generate a position signal in, e.g., at least three, or at least six degrees of freedom. Various ergonomic configurations of six axis joystick embodiments which may be facilitated by the compact design of the transducer means are disclosed. Means for dynamically adjusting coordinate transformations for construction machinery control are also disclosed.

1 - 116 . (canceled) 
     
     
         117 . An at least triaxial joystick including a base portion mounted to the slave platform of a Stewart platform the primary purpose of which is to actuate said base platform. 
     
     
         118 . The apparatus of  claim 117  wherein said Stewart platform provides force feedback. 
     
     
         119 . The apparatus of  claim 117  wherein said Stewart platform provides position feedback. 
     
     
         120 . The apparatus of  claim 117  wherein said Stewart platform provides velocity feedback. 
     
     
         121 - 138 . (canceled) 
     
     
         139 . A joystick as described in  claim 117  wherein coordinates are continuously adjusted to match a user's frame of reference by a computer. 
     
     
         140 . A joystick as described in  claim 139  wherein information from a machine vision sensor is input into said computer. 
     
     
         141 . A joystick as described in  claim 139  wherein information from at least one discrete sensor is input into said computer. 
     
     
         142 . A joystick as described in  claim 139  wherein information from absolute angle and position encoders is input into said computer. 
     
     
         143 . A joystick as described in  claim 117  further comprising hexapod struts that move said slave platform. 
     
     
         144 . A joystick as described in  claim 117  further comprising at least one amplifier that acts on at least one sensor signal.