Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control and Evaluation of a New 6-DOF Haptic Device Using a Parallel Mechanism

병렬구조를 이용한 새로운 6자유도 역감제시 장치의 제어 및 평가

  • Yun, Jeong-Won (Dept. of Mechatronics, Gwangju Institute of Science and Technology) ;
  • Ryu, Je-Ha (Dept. of Mechatronics, Gwangju Institute of Science and Technology)
  • 윤정원 (광주과학기술원 기전공학과) ;
  • 류제하 (광주과학기술원 기전공학과)
  • Published : 2001.02.01
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Abstract

This paper presents control and evaluation of a new haptic device with a 6-DOF parallel mechanism for interfacing with virtual reality. This haptic device has low inertial, high bandwidth compactness, and high output force capability mainly due to of base-fixed motors. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by an F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated by experiments. for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth Virtual wall simulation with the developed haptic device has been demonstrated.

Keywords

References

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