Abstract
We are developing a multi-purpose haptic device which can represent various operation manners by changing control methods. Usually, operation manners for one device that can be represented by configuration constraints such as joint placement are limited. To overcome this limitation and to represent more operation manners, a virtual axis is introduced to the device. The virtual axis is one of the virtual configuration, and is the joint axes of virtual prismatic joints and revolute joints. The virtual axis is different from an actual configuration of the device and realized by controlling multiple actual axes in conjunction. When an operator manipulates the device which is represented by the virtual axis, the operator feels as if the axis exists. This paper describes a control method of the haptic device with a virtual prismatic joint axis. The virtual prismatic joint axis is realized by two-stage control with linearization and servo compensation. Verification experiments are conducted to confirm the effectiveness of the control method, and show that the virtual prismatic joint axis is represented to the device.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
