Title :
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
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;
Conference_Titel :
IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on
Conference_Location :
Paris
Print_ISBN :
1-4244-0390-1
DOI :
10.1109/IECON.2006.347990
