Abstract
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.
Highlights
HAPTICS is the study of the sense of touch and it contains a wide range of interesting subtopics
It is shown that even with the same level of disturbance (13 N in Fig. 11), joint 6 produces more torque to compensate when the query points (QPs) is closer to the bottom of the workspace
We have presented a new approach to solve the problem of rendering stiff interaction as a position controller design problem
Summary
HAPTICS is the study of the sense of touch and it contains a wide range of interesting subtopics. This paper uses the term “haptic feedback” mostly for force feedback, which enables interactions with a virtual environment by holding a hand tool. The concept of haptic feedback is often mentioned in other related areas like tele-robotics, master-slave control, and bilateral control. The solution to one of the major challenges like stably rendering contact with a stiff surface still remains to be improved before the technology is safe to use in areas like surgical robotics. The conventional haptic rendering method contains 5 steps, namely, position sensing (in joint space), position computing (in workspace), collision detection, interaction force computing, and actuators/motors reference signal computing [12]
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