Design and analysis of a 2-D haptic interface device in virtual reality

Abstract

Analysis and design of a telerobotics device with a haptic interface, based on the virtual reality (VR) approach for simulating the cutting clay system, is proposed. The force feedback device is built using an x-y table and a multi-degree-of-freedom joystick and an equivalent computer model is computed. A virtual reality model for cutting oil clay using a haptic interface device is subsequently obtained. The VR model for the cutting tool system and the environment is simulated by the virtual haptic model that enables the operator to feel the actual force feedback from the virtual environment just as she/he would from the real environment. A control law for the virtual reality closed-loop model is derived. The stability and performance of the system are studied. Experiments on cutting virtual oil clay are used to validate the theoretical developments. It was shown that the experimental and theoretical results are in good agreement and that the designed controller is robust to constrained/unconstrained environment and load disturbances.