제어로봇시스템학회:학술대회논문집
- 2003.10a
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- Pages.2535-2539
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- 2003
Design of a new five-link haptic device considering its dynamics
- Moon, Chan-Woo (Precision machinery Research Center, Korea Electronics Technology Institute) ;
- Lee, Sung-Ho (Precision machinery Research Center, Korea Electronics Technology Institute) ;
- Chung, J.K. (Precision machinery Research Center, Korea Electronics Technology Institute)
- Published : 2003.10.22
Abstract
The haptic system becomes an essential device in the area of tele-operation, video entertainment and medical operation. To control a haptic device, impedance control method is widely used, but force sensor costs so much that open-loop control method is usually preferred for commercial purpose. In this case, modeled/un-modeled dynamics affects the performance of device. In this paper, we present a new 3DOF five-link type haptic device that we can reduce the effect of device dynamics and compensate its dynamics. We also evaluate its performance.