文章基本信息

标题：A New Control Architecture for Stable and Transparent Haptic Feedback of Interactive Simulation
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作者：Myeongjin Kim ; Doo Yong Lee
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：1346-1351
DOI：10.1016/j.ifacol.2017.08.224
语种：English
出版社：Elsevier
摘要：AbstractThis paper proposes a new control architecture for stable and transparent haptic rendering of interactive simulation involving a rigid tool and deformable objects. The traditional direct and proxy-based haptic rendering schemes are analyzed for the absolute stability, and transmit impedance employing the well-known bilateral control architecture frequently used in the field of teleoperation systems. An equivalent impedance is conveyed in the proposed control scheme to the haptic device instead of the contact force between the virtual tool and the object. The trade-off problem between the absolute stability and the transmitted impedance is resolved by computing the haptic feedback using the equivalent impedance. The proposed rendering scheme shows higher transparency than the conventional haptic rendering methods while maintaining the absolute stability.
关键词：KeywordsHaptic RenderingVirtual SimulationBilateral Control Architecture