Title :
Control and evaluation of a new 6-DOF haptic device using a parallel mechanism
Author :
Yoon, Jungwon ; Ryu, Jeha
Author_Institution :
Dept. of Mechatronics, KwangJu Inst. of Sci. & Technol., South Korea
Abstract :
Presents the control and evaluation of a haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertia, high bandwidth, and high output force capability mainly because of base-fixed motors. In addition, it has large orientation workspace due to RRR type spherical joints. A control method is presented with gravity compensation and with force feedback by a F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth by experiments. Virtual wall simulation with the developed haptic device has been demonstrated
Keywords :
compensation; dynamics; force feedback; friction; haptic interfaces; manipulators; telerobotics; virtual reality; 6 DOF haptic device; 6 DOF parallel mechanism; RRR type spherical joints; force bandwidth; force characteristics; gravity compensation; high bandwidth; high output force capability; inertia; low inertia; maximum applicable force; minimum controllable force; orientation workspace; static-friction force; unmodeled dynamics; virtual wall simulation; Bandwidth; Bars; Force control; Force feedback; Force measurement; Force sensors; Friction; Haptic interfaces; Testing; Virtual reality;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893170
