Stable haptic rendering in interactive virtual control laboratory

被引：4

作者：

Amirkhani, Saeed ^{[1
]}

Bahadorian, Behnoosh ^{[1
]}

Nahvi, Ali ^{[2
]}

Chaibakhsh, Ali ^{[1
]}

机构：

[1] Univ Guilan, Dept Mech Engn, Rasht, Iran

[2] KN Toosi Univ Technol, Dept Mech Engn, Tehran, Iran

来源：

INTELLIGENT SERVICE ROBOTICS | 2018年 / 11卷 / 03期

关键词：

Haptic rendering; Stability; Energy-compensating; Virtual reality; PASSIVATION APPROACH; SIMULATION; DYNAMICS; FEEDBACK; ROBOT; MODEL;

D O I：

10.1007/s11370-018-0252-2

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Stable control of haptic interfaces is one of the most important challenges in haptic simulations, because any instability of a haptic interface can cause it to get far from the realistic sense. In this paper, the control strategies employed for a stable haptic rendering in an interactive virtual control laboratory are presented. In this interactive virtual laboratory, there are different scenarios to teach the control concepts, in which a haptic interface is used in the two cases of force control and position control. In this regard, two control strategies are employed to avoid instability. An energy-compensating controller is utilized to remove energy leakage. Besides, a fuzzy impedance control is used along with the energy-compensating controller for the position control scenarios. The results obtained indicate the proposed approaches practically guarantee the stability of the haptic interface for an educational application in practice.

引用

页码：289 / 300

页数：12

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