Abstract
This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme.
| Original language | English |
|---|---|
| Pages (from-to) | 341-349 |
| Number of pages | 9 |
| Journal | IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics |
| Volume | 37 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2007 Apr |
| Externally published | Yes |
Keywords
- Brake
- Force approximation
- Indirect force control
- Passive force manipulability ellipsoid (FME)
- Passivity
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Information Systems
- Human-Computer Interaction
- Computer Science Applications
- Electrical and Electronic Engineering