A New Control Architecture for Stable and Transparent Haptic Feedback of Interactive Simulation

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This paper proposes a new control architecture for stable and transparent haptic rendering of interactive simulation involving a rigid tool and deformable objects. The traditional direct and proxy-based haptic rendering schemes are analyzed for the absolute stability, and transmit impedance employing the well-known bilateral control architecture frequently used in the field of teleoperation systems. An equivalent impedance is conveyed in the proposed control scheme to the haptic device instead of the contact force between the virtual tool and the object. The trade-off problem between the absolute stability and the transmitted impedance is resolved by computing the haptic feedback using the equivalent impedance. The proposed rendering scheme shows higher transparency than the conventional haptic rendering methods while maintaining the absolute stability. © 2017
Publisher
Elsevier B.V.
Issue Date
2017-07
Language
English
Article Type
Article
Citation

IFAC-PapersOnLine, v.50, no.1, pp.1346 - 1351

ISSN
2405-8963
DOI
10.1016/j.ifacol.2017.08.224
URI
http://hdl.handle.net/10203/244088
Appears in Collection
ME-Journal Papers(저널논문)
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