Problem statement. Ensuring precise and convenient control of mobile platforms through a discrete joystick is a current challenge in modern automation systems. One of the primary issues is the uneven sensitivity of the joystick in different directions due to the heterogeneous distribution of the areas of its virtual field segments. Purpose. The aim is to develop and optimize a methodology for balancing the areas of virtual field segments of the discrete joystick in rectangular, diagonal, and polar coordinate systems to ensure uniform control sensitivity. Methodology. The study is based on the use of analytical methods for determining the areas of virtual field segments for three coordinate systems. A geometric transformation method was applied to derive area formulas. The analysis took into account the conditions for equalizing the areas of the central, axial, and diagonal groups of segments. Graphs of the dependence of segment areas on the parameter determining the size of the central segment were obtained. Findings. Analytical formulas for determining the areas of virtual field segments in three coordinate systems are proposed. Conditions for balancing the areas of segments for different groups are established, enabling uniform sensitivity or adaptation for specific control tasks. The optimal parameter values for achieving balance in each coordinate system are identified. Originality. This work presents, for the first time, a methodology for analytically balancing the areas of joystick virtual field segments in various coordinate systems. A mathematical model accounting for the geometry of the segments in rectangular, diagonal, and polar coordinate systems is developed. Practical value. The results of this study allow for adjusting joystick parameters based on mobile platform control tasks. This contributes to improved precision, reduced control errors, and adaptation of the joystick to operator needs in various operational conditions. Scopes of further investigations. Further research may focus on the development of adaptive algorithms for real-time joystick parameter adjustments. Another promising direction is to incorporate the dynamic characteristics of mobile platforms and test the proposed models in practical conditions.
- D. Ding, R. A. Cooper, and D. Spaeth, “Optimized joystick controller,” The 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, San Francisco, CA, USA, 2004, pp. 4881–4883, doi: 10.1109/IEMBS.2004.1404350.
- R. Rahman, M. S. Rahman, and J. R. Bhuiyan, “Joystick controlled industrial robotic system with robotic arm,” 2019 IEEE International Conference on Robotics, Automation, Artificial-intelligence and Internet-of-Things (RAAICON), Dhaka, Bangladesh, 2019, pp. 31–34, doi: 10.1109/RAAICON48939.2019.18.
- Y. Zhang, L. Xie, Z. Zhang, K. Li, and L. Xiao, “Real-time joystick control and experiments of redundant manipulators using cosine-based velocity mapping,” 2011 IEEE International Conference on Automation and Logistics (ICAL), Chongqing, China, 2011, pp. 345–350, doi: 10.1109/ICAL.2011.6024740.
- H. H. Ward, “The Joystick and the Stepper Motor,” in Programming Arduino Projects with the PIC Microcontroller. Berkeley, CA, USA: Apress, 2022, pp. 123–150. doi: 10.1007/978-1-4842-7230-5_4.
- Y. Liu and J. Suzurikawa, “An easily attachable measurement system of joystick angle in a power wheelchair using IMUs for maneuvering logger,” Scientific Reports, vol. 14, no. 1, p. 8520, 2024, doi: 10.1038/s41598-024-58722-3.
- Y. Rabhi, M. Mrabet, F. Fnaiech, and P. Gorce, “Intelligent joystick for controlling power wheelchair navigation,” 3rd International Conference on Systems and Control (ICoSC), Algiers, Algeria, 2013, pp. 1020–1025, doi: 10.1109/ICoSC.2013.6750981.