제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.25.5-25
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- 2001
On the Design Method of a Haptic Interface Controller with Virtual Coupling
- Kim, Keehoon (Pohang University of Science and Technology) ;
- W.K. Chung (Pohang University of Science and Technology) ;
- Y. Youm (Pohang University of Science and Technology)
- Published : 2001.10.01
Abstract
A haptic interface can be a passive system with virtual coupling as a filter virtual coupling has been designed for satisfying passivity. However, it affects transparency of haptic interface as well as stability. This paper suggests new design criterion of a haptic interface controller by considering transparency. As a result, sampling time and the range of impedance or admittance should be considered as well as virtual coupling for desired performance of hapticdisplay. And experiments show that the suggested design criterion can be applied successfully for desired performance.
Keywords