Seminar Report Space Mouse

Chapter-1
Introduction
1.1 Introduction:
Every day of your computing life, you reach out for the mouse whenever you want to
move the cursor or activate something. The mouse senses your motion and your clicks and
sends them to the computer so it can respond appropriately. An ordinary mouse detects motion
in the X and Y plane and acts as a two dimensional controller. It is not well suited for people to
use in a 3D graphics environment. Space Mouse is a professional 3D controller specifically
designed for manipulating objects in a 3D environment. It permits the simultaneous control of
all six degrees of freedom - translation rotation or a combination. The device serves as an
intuitive man-machine interface.
The predecessor of the space mouse was the DLR controller ball. Space mouse has its
origins in the late seventies when the DLR (German Aerospace Research Establishment) started
research in its robotics and system dynamics division on devices with six degrees of freedom
(6 dof) for controlling robot grippers in Cartesian space. The basic principle behind its
construction is mechatronics engineering and the multisensory concept. The space mouse has
different modes of operation in which it can also be used as a two-dimensional mouse.

1.2 Aim of the Seminar:

The main aim of the report is to review the components and its working of a Mouse. Space is
used to manipulate 3D objects on the screen while simultaneously controlling 3D camera angles
and positions for viewing those objects.

1.3 Motivation of the Seminar:

3D connection 3D mice (Space Mouse) deliver a level of natural and intuitive control of 3D
models and environments that is unattainable with a traditional mouse and keyboard.

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1.4 Literature Survey:

In the late 1970’s, the DLR (German Aerospace Research Organization) Deutsches Zenturum Far
Luft Und Raumfaurt started research in robotics and on devices with six degrees of freedom for
controlling robot grippers in cartesian space. The device is based on the technology to control first
robot in space.

1.5 Applications of the Seminar:

Space Mouse has various applications like object manipulation in 3D applications, used in
graphical applications.

1.5 Organization of the Seminar:

We had partitioned the whole report into a total of eight chapters starting from introduction to
conclusion. Chapter-1 gives the information about the aim, literature survey and organization of
the project. Chapter-2 deals about the components and its working in a mouse and 3D interface.
Chapter-3 focus on Mechatronics. Chapter-4 describes the Space Mouse.Chapter-5 presents the
features and benefits. Chapter-6 discuss the applications of the space mouse. Chapter-7 includes
future aspects. Chapter-8 concludes the seminar.

1.6 Conclusion:
In this Chapter, the aim, literature survey, applications of the project and organization of the
documentation are discussed.

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Chapter-2
How does computer mouse works and 3D interface
Mice first broke onto the public stage with the introduction of the Apple Macintosh in 1984, and
since then they have helped to completely redefine the way we use computers. Every day of your
computing life, you reach out for your mouse whenever you want to move your cursor or activate
something. Your mouse senses your motion and your clicks and sends them to the computer so it
can respond appropriately

2.1 Inside a Mouse:

The main goal of any mouse is to translate the motion of your hand into signals that the
computer can use. Almost all mice today do the translation using five components:

Fig.2.1 The guts of a mouse

1. A ball inside the mouse touches the desktop and rolls when the mouse moves.

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Fig. 2.2 The exposed portion of the ball touches the desktop.

2. Two rollers inside the mouse touch the ball. One of the rollers is oriented so that it
detects motion in the X direction, and the other is oriented 90 degrees to the first roller
so it detects motion in the Y direction. When the ball rotates, one or both of these rollers
rotate as well. The following image shows the two white rollers on this mouse:

Fig.2.3 The rollers that touch the ball and detect X and Y motion

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3. The rollers each connect to a shaft, and the shaft spins a disk with holes in it. When a
roller rolls, its shaft and disk spin. The following image shows the disk:

Fig.2.4 A typical optical encoding disk

4. On either side of the disk there is an infrared LED and an infrared sensor. The holes in
the disk break the beam of light coming from the LED so that the infrared sensor sees
pulses of light. The rate of the pulsing is directly related to the speed of the mouse and
the distance it travels.

Fig.2.5 A close-up of one of the optical encoders

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that track mouse motion: There is an infrared LED (clear) on one side of the disk and
an infrared sensor (red) on the other. The rate of pulsing is directly related to the speed
of the mouse and distance it travels.
5. An on-board processor chip reads the pulses from the infrared sensors and turns them
into binary data that the computer can understand. The chip sends the binary data to the
computer through the mouse's cord.

Fig.2.6 The Small Processor

In this optomechanical arrangement, the disk moves mechanically, and an optical system counts
pulses of light. On this mouse, the ball is 21mm in diameter. The roller is 7 mm in diameter.
The encoding disk has 36 holes. So if the mouse moves 25.4 mm (1 inch), the encoder chip
detects 41 pulses of light.

Each encoder disk has two infrared LEDs and two infrared sensors, one on each side of
the disk (so there are four LED/sensor pairs inside a mouse). This arrangement allows the
processor to detect the disk's direction of rotation. There is a piece of plastic with a small,

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precisely located hole that sits between the encoder disk and each infrared sensor. This piece of
plastic provides a window through which the infrared sensor can "see." The window on one
side of the disk is located slightly higher than it is on the other -- one-half the height of one of
the holes in the encoder disk, to be exact. That difference causes the two infrared sensors to see
pulse of light when the other does not, and vice versa.

Fig.2.7 Conventional Computer Mouse

2.2 3D User Interface:

For a typical computer display, three dimensional is a misnomer—their displays are two-
dimensional. Three dimensional images are projected on them in two dimensions. Since this
technique has been in use for many years, the recent use of the term three dimensional must be
considered a declaration by equipment marketers that the speed of the three dimension to two
dimension projection is adequate to use in standard graphical user interfaces. Three dimensional
graphical user interfaces are common in science fiction literature and movies, such as Jurassic
Park, which features Silicon Graphics’ three dimensional file manager, “File system navigator”,
an actual file manager that never got widespread use as the user interface for the Unix computer.
In science fiction, three dimensional user interfaces are often immersible environments like
William Gibson’s Cyberspace or Neal Stephenson’s Metaverse. Three-dimensional graphics are

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currently mostly used in computer-aided design (CAD). There have been several attempts at
making 3D desktop environments like sun’s Project Looking Glass or SphereXP from Sphere Inc.

Fig.2.8 3D Interface

A three dimensional computing environment could possibly be used for collaborative work.

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Chapter-3
Mechatronics
3.1. What is Mechatronics Engineering ?
Mechatronics is the combination of mechanical engineering, electronic engineering, computer
engineering, software engineering, control engineering, and systems design engineering in order
to design and manufacture useful products. Mechatronics is a multidisciplinary field of
engineering, that is to say it rejects splitting engineering into separate disciplines. Originally,
mechatronics just included the combination between mechanics and electronics hence thw word is
only a portmanteau of mechanics and electronics.
Mechatronics is concerned with the design automation and operational performance of
electromechanical systems. Mechatronics engineering is nothing new; it is simply the applications
of latest techniques in precision mechanical engineering, electronic and computer control,
computing systems and sensor and actuator technology to design improved products and processes.
The basic idea of Mechatronics engineering is to apply innovative controls to extract new level of
performance from a mechanical device.
It means using modem cost effective technology to improve product and process
performance, adaptability and flexibility. Mechatronics covers a wide range of application areas
including consumer product design, instrumentation, manufacturing methods, computer
integration and process and device control. A typical Mechatronic system picks up signals
processes them and generates forces and motion as an output. In effect mechanical systems are
extended and integrated with sensors (to know where things are), microprocessors (to work out
what to do), and controllers (to perform the required actions).
The word Mechatronics came up describing this fact of having technical systems operating
mechanically with respect to some kernel functions but with more or less electronics supporting
the mechanical parts decisively. Thus we can say that Mechatronics is a blending of Mechanical
engineering, Electronics engineering and Computing. These three disciplines are linked together
with knowledge of management, manufacturing and marketing.
The portmanteau “mechatronics” was coined by Tetsuro Mori, the senior engineer of the
Japanese company Yaskawa in 1969. An industrial robot is a prime example of a mechatronics
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system; it includes aspects of electronics, mechanics and computing to do its day-to-day jobs.
Engineering cybernetics deals with the question of control engineering of mechatronic systems. It
is used to control or regulate such a system.

Fig.3.1 Mechatronics

Through the collaboration, the mechatronic modules perform the production goals and
inherit flexible and agile manufacturing properties in the production scheme. Modern production
equipment consists of mechatronic modules that are integrated according to control architecture.
The most known architectures involve hierarchy, polyarchy, heterarchy, and hybrid. The methods
for achieving a technical effect are described by control algorithms, which might or might not
utilize formal methods in their design. Hybrid systems important to mechatronics include
production systems, synergy drivees, planetary exploration rovers, automotive subsystems such as
anti-lock braking systems and spin-assist and every day equipment such as autofocus cameras,
videos, hard disks and CD players.
For most mechatronic systems, the main issue is no more how to implement a control
system, but how to implement actuators and what is the energy source. Within the mechatronics

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field, mainly two technologies are used to produce the movement: the piezo-electric actuators and
motors, or the electromagnetic actuators and motors. Maybe the most famous mechatronics
systems are the well-known camera autofocus system or camera anti-shake systems. Concerning
the energy sources, most of the applications use batteries. But a new trend is arriving and is the
energy harvesting , allowing transforming into electricity mechanical energy from shock,
vibration, or thermal energy from thermal variation, and so on.

3.2 What do Mechatronics engineers do?

A Mechatronics engineer unites the principles of mechanics, electronics, and computing to

generate a simpler, more economical and reliable system. Mechatronics is centered on mechanics,
electronics, computing, control engineering, molecular engineering (from nanochemistry and
biology), and optical engineering, which combined make possible the generation of simpler, more
economic, reliable and versatile systems.
Mechatronics design covers a wide variety of applications from the physical integration and
miniaturization of electronic controllers with mechanical systems to the control of hydraulically
powered robots in manufacturing and assembling factories. Computer disk drives are one example
of the successful application of Mechatronics engineering as they are required to provide very fast
access precise positioning and robustness against various disturbances.
An intelligent window shade that opens and closes according to the amount of sun exposure
is another example of a Mechatronics application. Mechatronics engineering may be involved in
the design of equipment and robots for under water or mining exploration as an alternative to using
human beings where this may be dangerous.
In fact Mechatronics engineers can be found working in a range of industries and project
areas including:
 Design of data collection, instrumentation and computerized machine tools.
 Intelligent product design for example smart cars .
 Automation for household transportation and industrial application.
 Design of self-diagnostic machines, which fix problems on their own.
 Medical devices such as life supporting systems, scanners and DNA sequencing
automation.

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 Robotics and space exploration equipment.

 Smart domestic consumer goods
 Computer peripherals.
 Security systems.

3.3 Mechatronic goals:

3.3.1 The multisensory concept:
The aim was to design a new generation of multi sensory lightweight robots. The new sensor
and actuator generation does not only show up a high degree of electronic and processor
integration but also fully modular hardware and software structures. Analog conditioning,
power supply and digital pre-processing are typical subsystems modules of this kind. The 20khz
lines connecting all sensor and actuator systems in a galvanically decoupled way and high speed
optical serial data bus (SERCOS) are the typical examples of multi sensory and multi actuator
concept for the new generation robot envisioned.

The main sensory developments finished with these criteria have been in the last years:
optically measuring force-torque-sensor for assembly operations. In a more compact form these
sensory systems were integrated inside plastic hollow balls, thus generating 6-degree of freedom
hand controllers (the DLR control balls). The SPACE-MOUSE is the most recent product based
on these ideas.

 stiff strain-gauge based 6 component force-torque-sensor systems.

 miniaturized triangulation based laser range finders.
 integrated inductive joint-torque-sensor for light-weight-robot.

In order to demonstrate the multisensory design concept, these types of sensors have been
integrated into the multisensory DLR-gripper, which contains 15 sensory components and to
our knowledge it is the most complex robot gripper built so far (more than 1000 miniaturized
electronic and about 400 mechanical components). It has become a central element of the
ROTEX space robot experiment.

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3.4 Applications of Mechatronics Engineering:

 Machine vision
 Automation and robotics
 Servo-mechanics
 Sensing and control systems
 Automotive engineering, automotive equipment in the design of subsystems such as
anti-lock braking systems
 Computer-machine controls, such as computer driven machines like IE CNC milling
machines
 Expert systems
 Industrial goods
 Consumer products
 Mechatronics systems
 Medical mechatronics, medical imaging systems
 Structural dynamic systems
 Transportation and vehicular systems.

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Chapter-4
Space Mouse
Space Mouse is developed by DLR (Deutsches Zenturum far Luft-und Raumfahrt) Institute of
Robotics and Mechatronics .

4.1 Why 3D motion?

In every area of technology, one can find automata and systems controllable up to six degrees
of freedom- three translational and three rotational. Industrial robots made up the most
prominent category needing six degrees of freedom by maneuvering six joints to reach any point
in their working space with a desired orientation. Even broader there have been a dramatic
explosion in the growth of 3D computer graphics.
Already in the early eighties, the first wire frame models of volume objects could move
smoothly and interactively using so called knob-boxes on the fastest graphics machines
available. A separate button controlled each of the six degrees of freedom. Next, graphics
systems on the market allowed manipulation of shaded volume models smoothly, i.e. rotate,
zoom and shift them and thus look at them from any viewing angle and position. The scenes
become more and more complex; e.g. with a "reality engine" the mirror effects on volume car
bodies are updated several times per second - a task that needed hours on main frame computers
a couple of years ago.
Parallel to the rapid graphics development, we observed a clear trend in the field of
mechanical design towards constructing and modeling new parts in a 3D environment and
transferring the resulting programs to NC machines. The machines are able to work in 5 or 6
degrees of freedom (dot). Thus, it is no surprise that in the last few years, there are increasing
demands for comfortable 3D control and manipulation devices for these kinds of systems.
Despite breathtaking advancements in digital technology it turned out that digital man-machine
interfaces like keyboards are not well suited for people to use as our sensomotory reactions and
behaviors are and will remain analogous forever.
Users control three-dimensional movement by maneuvering SPACE MOUSE “classic”
spring-mounted cap. Slight finger pressure on the cap will control an object in up to 6 degrees

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of freedom (X, Y, Z, pitch, roll, and yaw movement) simultaneously. The SPACE MOUSE
“classic” 3D Motion controller is available for both UNIX and PC platforms to be used with
industry standard CAD/CAM, CAE applications Such as CATIA, Pro/ENGINEER, I-DEAS or
AutoCAD.
Spacemouse Plus is a award-winning product in the line of professional 3D motion
controllers for industrial design and visual simulation applications. It provides intuitive and
precise interactive motion control of three-dimensional graphic objects in up to six degrees of
freedom simultaneously. This professional input device dramatically increases productivity,
improves object compression and helps detect design errors earlier. Spacemouse Plus – A user-
friendly, soft coated cap (electrostatic, ionized method of coating provides a better grip) with a
distinctive grip area for thumb, forefinger and middle finger supports virtually every single cap
movement with the uniquely soft, pressure-sensitive sensor.

4.2 Degree of freedom:

In mechanics, degrees of freedom (DOF) is the number of parameters that define the
configuration of a mechanical system. The degrees of freedom of a body is the number of
independent parameters that define the displacement and deformation of the body. This is a
fundamental concept relating to systems of moving bodies in mechanical engineering,
aeronautical engineering, robotics and structural engineering.
The position of a single car (engine) moving along a track has one degree of freedom,
because the position of the car is defined by the distance along the track. A train of rigid cars
connected by hinges to an engine still has only one degree of freedom because the positions of
the cars behind the engine are constrained by the shape of the track.
An automobile can be considered to be a rigid body traveling on a plane ( a flat, two
dimensional space). This body has three independent degrees of freedom consisting of two
components of translation and one angle of rotation. Skidding or drifting is a good example of
an automobile’s three independent degrees of freedom. The position of rigid body in space is
defined by three components of translation and three components of rotation, which means that
it has six degrees of freedom.

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Fig.4.1 Degree of freedom

The position of a n-dimensional rigid body is defined by the rigid transformation,

[T]=[A,d], where d is an n-dimensional translation and A is an n*n rotation matrix, which has
n translational degrees of freedom and n(n+1)/2 rotational degrees of freedom. The number of
rotational degrees of freedom comes from the dimension of the rotation group SO(n).
A non-rigid or deformable body maybe thought of as a collection of many minute
particles (infinite number of DOFs); this is often approximated by a finite DOF system. When
motion involving large displacements is a main objective of study (e.g. for analyzing the motion
of satellites), a deformable body maybe approximated as a rigid body (or even a particle) in
order to simplify the analysis. The motion of a ship at sea has a six degrees of freedom of a rigid
body, which described as:

Translation:
1. Moving up and down (heaving).
2. Moving left and right (swaying).
3. Moving forward and backward (surging).

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Rotation:
1. Tilting forward and backward (pitching).
2. Turning left and right (yawing).
3. Tilting side to side (rolling).

Fig.4.2 How Space Mouse works

As defined above one can also get degree of freedom using minimum number of coordinates
required to specify a position. Applying it:
1. For a single particle we need 2 coordinates in 2-D plane to specify its position and 3
coordinates in 3-D plane. Thus its degree of freedom in 3-D plane is 3.
2. For a body consisting of 2 particles (e.g. diatomic molecule) in 3-D plane with constant
distance between them can show its degree of freedom to be 5.

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A System with several bodies would have combined DOF that is the sum of the DOFs of
the bodies, less the internal constraints they may have on relative motion. A mechanism or
linkage containing a number of connected rigid bodies may have more than the degrees of
freedom for a single rigid body. Here the term degrees of freedom is used to describe the number
of parameters needed to specify the spatial pose of a linkage.

4.3 Types of Space mouse:

I. Space mouse “Classic”:
Space Mouse Classic is as essential tool as your mouse or keyboard, giving you the
ability to manipulate 3D objects on the screen, while simultaneously controlling 3D
camera angles and positions for viewing those objects.

Fig.4.3 Space Mouse “Classic”

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Table 4.1: SPACE MOUSE “Classic”- Product Specification

II. Space Mouse Plus:

 The Space Mouse Plus is a high performance motion controller proven to enhance
productivity and comfort for users of demanding 3D software applications.
 The Space Mouse Plus delivers a more efficient and balanced way to work.

Fig.4.4 Space mouse Plus

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Table 4.2. SPACE MOUSE “Plus”-Product Specification

4.4 DLR control ball, Magellan's predecessor:

At the end of the seventies, the DLR (German Aerospace Research Establishment)
institute for robotics and system dynamics started research on devices for the 6-dof control of
robot grippers .in Cartesian space. After lengthy experiments it turned out around 1981 that
integrating a six axis force torque sensor (3 force, 3 torque components) into a plastic hollow
ball was the optimal solution. Such a ball registered the linear and rotational displacements as
generated by the forces/ torques of a human hand, which were then computationally transformed
into translational / rotational motion speeds.
4.4.1 Force torque sensor:
Force torque sensors basically measure the linear and rotational displacement of a ball
containing the sensor arrangement.
Description of individual components:
1. Transducer cable: The transducer cable is a long life flexible cable specially designed
for noise immunity. This durable cable protects the transducer signals from electrical
field and mechanical stress.

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2. Interface board: The interface board electronics receive transducer strain gauge signals
and convert them to readable DAQ card signals using noise immunity technology. Each
interface board is calibrated to work with specific transducer.
3. Power supply: The power supply converts readily available 5 volt (275 mA) power
from PC though the DAQ card connection to clean power used by the transducer.
4. Power supply cable: The power supply cable conducts 5 volt power to the power supply
box or interface power supply box and transmits the transducer signals to the data
acquisition card.
5. Data Acquisition card (DAQ): The data acquisition card plugs into PC, receives the
analog transducer signals via the power supply cable and converts them into data to be
used by computer programs.
The first force torque sensor used was based upon strain gauge technology, integrated into
a plastic hollow ball. DLR had the basic concept centre of a hollow ball handle approximately
coinciding with the measuring centre of an integrated 6 dof force / torque sensor patented in
Europe and US. From 1982-1985, the first prototype applications showed that DLRs control
ball was not only excellently suited as a control device for robots, but also for the first 3-D
graphics system that came onto the market at that time.

Fig.4.5 DLR Controller Ball

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4.4.2 Basic principle:

The new system used 6 one-dimensional position detectors. This system received a
worldwide patent. The basic principle is as follows. The measuring system consists of an inner
and an outer part. The measuring arrangement in the inner ring is composed of the LED, a slit
and perpendicular to the slit on the opposite side of the ring a linear position sensitive detector
(PSD). The slit / LED combination is mobile against the remaining system. Six such systems
(rotated by 60 degrees each) are mounted in a plane, whereby the slits alternatively are vertical
and parallel to the plane. The ring with PSD's is fixed inside the outer part and connected via
springs with the LED-slit-basis. The springs bring the inner part back to a neutral position when
no forces / torque are exerted: There is a particularly simple and unique. This measuring system
is drift-free and not subject to aging effects.
The whole electronics including computational processing on a one-chip-processor was
already integrable into the ball by means of two small double sided surface mount device (SMD)
boards, the manufacturing costs were reduced to below $1,000, but the sales price still hovered
in the area of $3,000. The original hopes of the developers group that the license companies
might be able to redevelop devices towards much lower manufacturing costs did not materialize.
On the other hand, with passing of time, other technologically comparable ball systems
appeared on the market especially in USA. They differed only in the type of measuring system.

4.5 Magellan (the European Space mouse):

The result of a long development chain:
With the developments explained in the previous sections, DLR's development group started a
transfer company, SPACE CONTROL and addressed a clear goal: To redesign the control ball
idea with its unsurpassed optoelectronic measuring system and optimize it thus that to reduce
manufacturing costs to a fraction of its previous amount and thus allow it to approach the pricing
level of high quality PC mouse at least long-term.

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Fig.4.6 Space mouse System

The new manipulation device would also be able to function as a conventional mouse and
appear like one, yet maintain its versatility in a real workstation design environment. The result
of an intense one-year's work was the European Space Mouse, in the USA it is especially in the
European market place. But end of 93, DLR and SPACE CONTROL jointly approached
LOGITECH because of their wide expertise with pointing devices for computers to market and
sell Magellan in USA and Asia. The wear resistant and drift free optoelectronic, 6 component
measuring system was optimized to place all the electronics, including the analogous signal
processing, AT conversion, computational evaluation and power supply on only one side of a
tiny SMD- board inside Magellan's handling cap.

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It only needs a few milliamperes of current supplied through the serial port of any PC or
standard mouse interface. It does not need a dedicated power supply. The electronic circuitry
using a lot of time multiplex technology was simplified by a factor of five, compared to the
former control balls mentioned before. The unbelievably tedious mechanical optimization,
where the simple adjustment of the PSD's with respect to the slits played a central role in its
construction, finally led to 3 simple injection moulding parts, namely the basic housing, a cap
handle with the measuring system inside and the small nine button keyboard system. The
housing, a punched steel plate provides Magellan with the necessary weight for stability; any
kind of metal cutting was avoided.
The small board inside the cap (including a beeper) takes diverse mechanical functions as
well. For example, it contains the automatically mountable springs as well as overload
protection. The springs were optimized in the measuring system so that they no longer show
hysteresis; nevertheless different stiffness of the cap are realizable by selection of appropriate
springs. Ergonomically, Magellan was constructed as flat as can be so that the human hand may
rest on it without fatigue. Slight pressures of the fingers on the cap of Magellan is sufficient for
generating deflections in X, Y, and Z planes, thus shifting a cursor or flying a 3D graphics
object translationally through space. Slight twists of the cap cause rotational motions of a 3D
graphics object around the corresponding axes.
Pulling the cap in the Z direction corresponds to zooming function. Moving the cap in X
or Y direction drags the horizontally and vertically respectively on the screen. Twisting the cap
over one of the main axes or any combination of them rotates the object over the corresponding
axis on the screen. The user can handle the object on the screen a he were holding it in his own
left hand and helping the right hand to undertake the constructive actions on specific points
lines or surfaces or simply by unconsciously bringing to the front of appropriate perspective
view of any necessary detail of the object. With the integration of nine additional key buttons
any macro functions can be mapped onto one of the keys thus allowing the user most frequent
function to be called by a slight finger touch from the left hand.
The device has special features like dominant mode. It uses those degrees of freedom in
which the greatest magnitude is generated. So defined movements can be created. Connection
to the computer is through a 3m cable (DB9 female) and platform adapter if necessary. Use of

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handshake signals (RTSSCTS) are recommended for the safe operation of the space mouse.
Without these handshake signals loss of data may occur. Additional signal lines are provided to
power the Magellan (DTS&RTS). Thus, no additional power supply is needed. Flying an object
in 6 dof is done intuitively without any strain. In a similar way, flying oneself through a virtual
world is just fun. Touching the keys results in either the usual menu selection, mode selection
or the pickup of 3D objects.

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Chapter-5
Features and Benefits
5.1 Features:
 Ease of use of manipulating objects in 3D applications.

 Calibration free sensor technology for high precision and unique reliability.

 Nine programmable buttons to customize users preference for motion control

 Fingertip operation for maximum precision and performance.

 Settings to adjust sensitivity and motion control to the users preference.

 Small form factor frees up the desk space.

 Double productivity of object manipulation in 3D applications.

 Natural hand position (resting on table) eliminates fatigue.

5.2 Benefits:
 As the user positions the 3D objects with the Magellan device the necessity of going
back and forth to the menu is eliminated. Drawing times is reduced by 20%-30%
increasing overall productivity.
 With the Magellan device improved design comprehension is possible and earlier
detection of design errors contributing faster time to market and cost savings in the
design process.
 Any computer whose graphics power allows to update at least 5 frames per second of
the designed scenery, and which has a standard RS232 interface, can make use of the
full potential of Magellan space mouse.
 In 3D applications Magellan is used in conjunction with a 2D mouse. The user positions
an object with space mouse while working on the object using a mouse. We can consider
it as a workman holding an object in his left hand and working on it with a tool in his
right hand.
 Now Magellan space mouse is becoming something for standard input device for
interactive motion control of 3D graphics objects in its working environment and for
many other applications.

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Chapter-6
Applications
 3D connection devices are compatible with over 100 applications including
 CAD/CAM/CAE
1. AutoCAD
2. Autodesk Inventor
 Digital content creation
1. 3D visualization
2. 3D modelling
 Productivity Tools
1. Google SketchUp 6
2. NASA World Wind
3. Solid Edge
 Works in Graphical Applications.
 Object Manipulation in 3D applications.

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Chapter-7
Future Scope
7.1 Future Scope:
Magellan's predecessor, DLR's control ball, was a key element of the first real robot in space,
ROTEX- (3), which was launched in April 93 with space shuttle COLUMBIA inside a rack of
the spacelab-D2. The robot was directly teleoperated by the astronauts using the control ball,
the same way remotely controlled from ground (on-line and off line) implying "predictive"
stereographics.
As an example, the ground operator with one of the two balls or Magellan’s steered the
robot's gripper in the graphics pre-simulation, while with the second device he was able to move
the whole scenery around smoothly in 6 dot Predictive graphics simulation together with the
above mentioned man machine interaction allowed for the compensation of overall signal
delays up to seven seconds, the most spectacular accomplishment being the grasping of a
floating object in space from the ground. Since then, ROTEX has often been declared as the
first real "virtual reality" application.
7.1.1 Visual Scope:

A most intuitive controlling device would be a system that can be instructed by watching and
imitating the human user, using the hand as the major controlling element. This would be a very
comfortable interface that allows the user to move a robot system in the most natural way. This
is called the visual space mouse. The system of the visual space mouse can be divided into two
main parts: image processing and robot control. The role of image processing is to perform
operations on a video signal, received by a video camera, to extract desired information out of
the video signal. The role of robot control is to transform electronic commands into movements
of the manipulator.

Fig.7.1 Visual Space Mouse

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Chapter-8
Conclusion
The graphics simulation and manipulation of 3D volume objects and virtual worlds and their
combination e.g. with real information as contained in TV images (multi-media) is not only
meaningful for space technology, but will strongly change the whole world of manufacturing and
construction technology, including other areas like urban development, chemistry, biology, and
entertainment. For all these applications we believe there is no other man- machine interface
technology comparable to Magellan in its simplicity and yet high precision. It is used for 3D
manipulations in 6 dof, but at the same time may function as a conventional 2D mouse.

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References
1. J. HeintB, G. Hilzinger “Device for programming movements of a Robot”
2. J. Dietrich, G. Plank, H. Krans “Optoelectronic System Housed in Plastic Sphere”
3. G. Hirzmger and J. Dietrich, B. Gombert, J. Heindi, K. Landzettel, J. Schott “The
sensory and telerobotic aspects of the spare robot technology experiment ROTEX”,
Int. Symposium "Artificial Intelligence, Robotics and Automation, in Space"
4. http://www.en.wikipedia.com/ Mechatronics.
5. http://en.wikipedia.org/wiki/Six_degrees_of_freedom
6. http://www.3dconnection.com/history.html

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