Energy-based control of a haptic device using brakes.
This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme.
Cho
Changhyun
C
Korea Institute of Science and Technology, Center for Intelligent Robotics, Seoul 136-791, Korea. chcho@kist.re.kr
Song
Jae-Bok
JB
Kim
Munsang
M
D003198:Computer Simulation; D004735:Energy Transfer; D004867:Equipment Design; D019544:Equipment Failure Analysis; D005246:Feedback; D008328:Man-Machine Systems; D008962:Models, Theoretical; D010812:Physical Stimulation / Q000295:instrumentation* / Q000379:methods; D014110:Touch; D014159:Transducers; D014584:User-Computer Interface