Application of Two-Port Network in Bilateral Control for a Haptic Interface with Force-Position Compensation

2011 ◽  
Vol 199-200 ◽  
pp. 1211-1216 ◽  
Author(s):  
Jian Jun Meng ◽  
Jin Tian Yun
Keyword(s):  
Network Theory ◽  
Force Feedback ◽  
Position Error ◽  
Haptic Interface ◽  
Control Architecture ◽  
High Fidelity ◽  
Control Methods ◽  
Bilateral Control ◽  
Precise Position ◽  
Force Reflection

The two-port network theory for describing the characteristics of the haptic interface is presented; the four-channel bilateral control architecture is introduced, and two control methods named position-error-based control and direct force reflection control (PEBC & DFRC) are also presented. Two main problems caused by the coupling between position and force information for transparency improvement of the haptic interface are also be discussed and a Model-Based Force-Position Compensation Strategy to enhance the transparency of the haptic interface is proposed. By embedding the compensation unit into the DFRC architecture, the Haptic Interface could be controlled with precise position and high-fidelity force feedback.

EXPERIMENTAL EVALUATION OF BILATERAL CONTROL SCHEMES APPLIED TO HYDRAULIC ACTUATORS: A COMPARATIVE STUDY

2009 ◽  
Vol 33 (3) ◽  
pp. 377-398 ◽  
Author(s):  
Kurosh Zarei-nia ◽  
Amin Yazdanpanah Goharrizi ◽  
Nariman Sepehri ◽  
Wai-keung Fung
Keyword(s):  
Position Error ◽  
Position Tracking ◽  
Control Force ◽  
Bilateral Control ◽  
Hydraulic Actuator ◽  
Common System ◽  
Control Schemes ◽  
Force Tracking ◽  
Environmental Force ◽  
Force Reflection

In this paper, we present experimental results of implementing five bilateral control schemes, widely used for electro-mechanical systems, to a hydraulic actuator. The goal is to investigate the applicability of each control scheme to a hydraulic actuator and compare their performances on a common system. The considered schemes are ‘force reflection’, ‘position error’, ‘shared compliant control’, ‘force reflection with passivity’ and ‘four channels architecture’ schemes. The evaluation is conducted in terms of position tracking, force tracking, and fidelity of perceived stiffness by the operator. It is shown that force reflection and four channels architecture control schemes perform best in terms of both position tracking and force tracking during interaction with an environment emulated by different springs. Position error scheme, on the other hand, exhibits good position tracking capability, but cannot track environmental force encountered at the master site. It, however, produces a feel to the operator, based on position error between the slave and the master arms, which is potentially desirable during unconstrained motion control of the actuator.

Telerobotic Control Architecture Including Force-Reflection

1998 ◽  
Author(s):  
Mark A. Murphy ◽  
Robert L. Williams ◽  
III
Keyword(s):  
Control Architecture ◽  
Force Reflection

Bilateral control system for laser micromanipulation by force feedback

2000 ◽  
Vol 14 (5) ◽  
pp. 381-383 ◽  
Author(s):  
Fumihito Arai ◽  
Masanobu Ogawa ◽  
Toshio Fukuda
Keyword(s):  
Control System ◽  
Force Feedback ◽  
Bilateral Control ◽  
Laser Micromanipulation

scholarly journals Haptic Interfacing for Virtual Prototyping of Mechanical CAD Designs

1997 ◽  
Author(s):  
John M. Hollerbach ◽  
Elaine Cohen ◽  
William Thompson ◽  
Rodney Freier ◽  
David Johnson ◽  
...  
Keyword(s):  
Real Time ◽  
Virtual Prototyping ◽  
Haptic Interface ◽  
Control Architecture ◽  
Real Time Control ◽  
Cad Modeling ◽  
Time Control ◽  
Smooth Transitions ◽  
New Algorithms ◽  
Surface Proximity

Abstract A network-based real-time control architecture has been developed which integrates a haptic interface (the Sarcos Dextrous Arm Master) with an advanced CAD modeling system (Utah’s Alpha_1). New algorithms have been developed and tested for surface proximity testing, fast updates to local closest point on a surface, and smooth transitions between surfaces. The combination of these new algorithms with the haptic interface and CAD modeling system permits a user to actively touch and manipulate virtual parts as well as passively view them on a CRT screen.

Foot-Based 6-DOF Haptic Interface with Force Feedback Capability for Third Arm Manipulation

2021 ◽  
Author(s):  
Seigo Okada ◽  
Yasunao Okazaki ◽  
Yusuke Kato ◽  
Jun Ozawa ◽  
Takeshi Ando
Keyword(s):  
Force Feedback ◽  
Haptic Interface

Design and Modeling of an Electro-Rheological Fluid Based Haptic Interface

2000 ◽  
Author(s):  
C. Mavroidis ◽  
C. Pfeiffer ◽  
J. Celestino ◽  
Y. Bar-Cohen
Keyword(s):  
Analytical Modeling ◽  
Force Feedback ◽  
Haptic Interface ◽  
Dexterous Manipulation ◽  
End Effector ◽  
Jet Propulsion ◽  
Field Robots ◽  
Rutgers University ◽  
Modeling And Experiments ◽  
Human Operators

Abstract In this project, Rutgers University has teamed with the Jet Propulsion Laboratory (JPL) to pursue the development and demonstration of a novel haptic interfacing capability called MEMICA (remote MEchanical MIrroring using Controlled stiffness and Actuators). MEMICA is intended to provide human operators intuitive and interactive feeling of the stiffness and forces at remote or virtual sites in support of space, medical, underwater, virtual reality, military and field robots performing dexterous manipulation operations. The key aspect of the MEMICA system is a miniature Electrically Controlled Stiffness (ECS) element that mirrors the stiffness at remote/virtual sites. The ECS elements make use of Electro-Rheological Fluid (ERF), which is an Electro-Active Polymer (EAP), to achieve this feeling of stiffness. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user by this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. This paper describes the analytical modeling and experiments that are currently underway to develop an ERF based force feedback element.

Haptically Guided Filtering for Reverse Engineering

2004 ◽  
Author(s):  
Kristin Potter ◽  
David Johnson ◽  
Elaine Cohen
Keyword(s):  
Reverse Engineering ◽  
Laser Scanning ◽  
Force Feedback ◽  
Noisy Data ◽  
Large Datasets ◽  
Haptic Interface ◽  
Local Smoothing ◽  
Natural Interface ◽  
Guided Filtering ◽  
Sharp Edges

Reverse engineering of mechanical systems often begins with large datasets produced from laser scanning of physical artifacts. Commonly it is necessary to remove noise and filter them; however, selecting noisy regions and preserving sharp edges on desired features is difficult using standard GUI interfaces. We demonstrate a haptic interface for marking and preserving features in noisy data and for performing local smoothing operations. The force-feedback provides a natural interface for these operations.

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