DocumentCode :
559003
Title :
Optimal design of a new 6-DOF haptic device
Author :
Hung, Vu Minh ; Na, Uhn Joo
Author_Institution :
Div. of Mech. Eng. & Autom., Kyungnam Univ., Gyungnam, South Korea
fYear :
2011
fDate :
26-29 Oct. 2011
Firstpage :
849
Lastpage :
852
Abstract :
This paper presents the optimal design and self-tuning fuzzy PID force control of a new 6-DOF haptic device. The haptic device is designed to select the optimal lengths of links so that requirements of workspace, force transmission ratio and singular configuration are satisfied. These requirements produce a composite global design index as a multi objective function. The indexes of optimal design are described in the discrete domain where the local workspace is approximated by a pyramid. The comparisons of six designs for six different weighting factors indicate the best case of optimal design.
Keywords :
control system synthesis; force control; fuzzy control; haptic interfaces; telerobotics; three-term control; 6-DOF haptic device; composite global design index; force transmission ratio; multiobjective function; optimal design; self tuning fuzzy PID force control; singular configuration; Force; Haptic interfaces; Indexes; Jacobian matrices; Joints; Kinematics; Robots; Haptic device; Teleoperation; force control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location :
Gyeonggi-do
ISSN :
2093-7121
Print_ISBN :
978-1-4577-0835-0
Type :
conf
Filename :
6106341
Link To Document :
بازگشت