Virtual Friction Display of Hybrid Force Feedback Interface with Actuators Comprising DC Motor and Magnetorheological Brake

Author

An, Jinung ; Kwon, Dong-Soo

Author_Institution

Dept. of Inf. & Control Eng., Kwangwoon Univ., Seoul

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

3997

Lastpage

4002

Abstract

This paper mainly deals with the stability of hybrid force feedback interface during displaying virtual Coulomb friction. The hybrid force feedback interface employs DC motor and magnetorheological (MR) brake as actuators. Firstly the paper theoretically presents how friction affects stability using the describing function method and the absolute stability theory. Secondly the paper provides experimental results for displaying virtual Coulomb friction to verify the theoretical analysis. The results showed that the hybrid force feedback interface realistically display the virtual Coulomb friction with guarantee of stability

Keywords

DC motors; actuators; brakes; control engineering computing; force feedback; friction; haptic interfaces; magnetorheology; man-machine systems; robot dynamics; stability; virtual reality; DC motor; absolute stability theory; actuators; describing function method; hybrid force feedback interface; magnetorheological brake; virtual Coulomb friction; virtual friction display; Actuators; DC motors; Displays; Force feedback; Friction; Haptic interfaces; Humans; Magnetic levitation; Stability; Virtual environment;

fLanguage

English

Publisher

ieee

Conference_Titel

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.347990

Filename

4153325