TR96-20

Protecting the PHANToM from the Programmer

    •  Rob Kooper, John Barrus, David Ratajczak, David Parsons, "Protecting the PHANToM from the Programmer", Tech. Rep. TR96-20, Mitsubishi Electric Research Laboratories, Cambridge, MA, September 1996.
      BibTeX TR96-20 PDF
      • @techreport{MERL_TR96-20,
      • author = {Rob Kooper, John Barrus, David Ratajczak, David Parsons},
      • title = {Protecting the PHANToM from the Programmer},
      • institution = {MERL - Mitsubishi Electric Research Laboratories},
      • address = {Cambridge, MA 02139},
      • number = {TR96-20},
      • month = sep,
      • year = 1996,
      • url = {https://www.merl.com/publications/TR96-20/}
      • }
Abstract:

Anytime you connect motors and amplifiers to a computer, you make it possible for the computer to break something or hurt someone. However, careful design of hardware and software can permit full use of a device within limits imposed by safety concerns. It is trivial to cause one such device, the Phantom [Massie and Salisbury \'94] from SensAble Technologies, to damage itself and in fact it is quite difficult not to do so. In this paper, we describe a robust solution to this problem.