Realistic active haptic guided exploration with Cartesian control for force--position tracking in finite time

  • Authors:

  • O. A. Domínguez-Ramírez;V. Parra-Vega

  • Affiliations:

  • Research Center on Information and Systems Technologies --CITIS, Universidad Autonoma del Estado de Hidalgo, Carretera Pachuca-Tulancingo km 4.5, Pachuca, Hidalgo 42000, Mexico;Robotics and Advanced Manufacturing Division --CINVESTAV Saltillo, Carretera Saltillo --Monterrey km 13.5, Ramos Arizpe, Coahuila 25900, Mexico

  • Venue:
  • Applied Bionics and Biomechanics
  • Year:
  • 2006

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Abstract

Perception and interaction with virtual surfaces, through kinaesthetic sensation and visual stimuli, is the basic issue of a haptic interface. When the virtual or real object is in a remote location, and guidance is required to perceive kinaesthetic feedback, a haptic guidance scheme is required. In this document, with purpose of haptic-guided exploration, a new scheme for simultaneous control of force and cartesian position is proposed without using inverse kinematics, and without using the dynamic model of PHANToM, though a strict stability analysis includes the dynamic model of PHANToM. We rely on our previously proposed results to propose a new haptic cartesian controller to reduce the burden of computing cartesian forces in PHANToM. Furthermore, a time base generator for finite-time tracking is also proposed to achieve very fast tracking and high precision, which translated into high fidelity kinaesthetic feedback.