The Bert S. Turner Department of Construction Management requires a haptic controller to support research on diverse remote robotic operations, including pick-and-place tasks, precise object manipulation, complex assembly processes, and master-slave system interactions. Must provide the following features/specifications: • A 6-degree-of-freedom controller with a passive gripper. • Position sensing in X, Y, and Z directions. • A position resolution of under 0.02 mm. • A rotation resolution of under 0.005°. • Force feedback in X, Y, and Z directions. • A peak rotation force of under 10 Nm. • A continuous rotation force of under 2 Nm. • A peak payload of 50 N or higher. • A force feedback workspace of 1000 x 500 x 1000 mm or larger. • A maximum translation stiffness of 10000 N/m for each axis. • A maximum rotation stiffness of 40 Nm/rad. • The weight of the device must be under 14 kg. • A software/framework to enable integration of the controller with the robot, facilitating teleoperation capabilities with force-feedback control. • The controller must be equipped with an Ethernet port for Ethernet communications.
