A Position-Control based Approach to Haptic Rendering of Stiff Objects
| العنوان: | A Position-Control based Approach to Haptic Rendering of Stiff Objects |
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| المؤلفون: | Wang, Yang, Feng, Lei, Andersson, Kjell, 1959 |
| المصدر: | XPRESS – Initiative for excellence in production research IEEE Transactions on Haptics. 14(3):646-659 |
| مصطلحات موضوعية: | Haptic rendering, parallel machine, Industriella informations- och styrsystem, Industrial Information and Control Systems |
| الوصف: | Conventional force rendering methods in haptic applications often suffer stability issues when simulating interactions with stiff objects such as a virtual wall. This paper argues that the emphasis in such scenarios is to minimize the penetration into the virtual wall instead of modeling the wall as a spring-damper system. Therefore, we propose an approach using a position controller to achieve better haptic rendering of the virtual wall. The proposed approach exploits model-based development tools to obtain the linear control system model without the need for an analytical model of the dynamics of the haptic device. A simulation-based performance comparison of two different controllers has been made for a 6-DOF parallel structure haptic device. |
| وصف الملف: | |
| URL الوصول: | https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-287571 https://doi.org/10.1109/TOH.2020.3044682 |
| قاعدة البيانات: | SwePub |
| تدمد: | 19391412 23294051 |
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| DOI: | 10.1109/TOH.2020.3044682 |