Haptic Direct-Drive Robot Control Scheme in Virtual Reality

  • Authors:

  • Ming-Guo Her; Kuei-Shu Hsu; Tian-Syung Lan;M. Karkoub

  • Affiliations:

  • Department of Mechanical Engineering, Tatung University, 40 Chung-Shang North Rd. 3rd. Sec., Taipei, Taiwan 10451, Taiwan/ e-mail:;Department of Automation Engineering, Kao Yuan Institute of Technology, 1821 Chung-Shan Rd., Lu-Chu Hsiang, Kaohsiung, Taiwan/ e-mail:;Department of Mechanical Engineering, De Lin Institute of Technology, Tuchen, Taipei, Taiwan;Mechanical Engineering Department, Kuwait University, P.O. Box 5969, Safat 13060, Kuwait

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2002

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Abstract

This paper explores the use of a 2-D (Direct-Drive Arm) manipulator for mechanism design applications based on virtual reality (VR). This article reviews the system include a user interface, a simulator, and a robot control scheme. The user interface is a combination of a virtual clay environment and human arm dynamics via robot effector handler. The model of the VR system is built based on a haptic interface device behavior that enables the operator to feel the actual force feedback from the virtual environment just as s/he would from the real environment. A primary stabilizing controller is used to develop a haptic interface device where realistic simulations of the dynamic interaction forces between a human operator and the simulated virtual object/mechanism are required. The stability and performance of the system are studied and analyzed based on the Nyquist stability criterion. Experiments on cutting virtual clay are used to validate the theoretical developments. It was shown that the experimental and theoretical results are in good agreement and that the designed controller is robust to constrained/unconstrained environment.