Implementation of a Dual-DOF Force Feedback Joystick Control System Based on DSP

This study proposes a force feedback simulation controller with precise motor angle control, designed to accurately control motor angles and provide force feedback based on the extent of joystick manipulation. The system operates by driving the motor to a target angle and ensuring that, upon releasing the joystick after any manipulation, it automatically returns to the desired angle. An encoder measures the motor angle, which is used to estimate the joystick angle. By combining motor velocity and torque, the dynamics of the linkage mechanism are analyzed to calculate the force at the joystick end, ensuring optimal force feedback for the user. The force feedback controller is implemented using a digital signal processor (DSP) as the core. The experimental platform allows the joystick to control two servo motors, enabling two degrees of freedom in motion. A four-bar linkage mechanism is employed to allow the joystick to swing in two axes. To adjusts the joystick angle through digital outputs, and provides functionalities such as joystick position reset and force feedback adjustment.