サーボ系の構成がハプティックインタフェースに及ぼす影響(機械力学,計測,自動制御)

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Multi-media services such as audio and visual media are advanced rapidly. In addition to them, physical force information is expected as the next service, which may realize virtual reality service. Many reserches concerning the haptic interface as the force display have been reported. However, as they have not been studied specially from the control view point, control problems have not been clarified systematically. The purpose of this paper is to clarify the control problems of the haptic interface systematically, which includes not only the realization of the force display but also its stability and limitation. In this paper, two major control algorithms are investigated. The first type is the position control type, which realizes the position corresponding to user's force in consideration of the virtual environment dynamics. The second type is the force control, which realizes the force corresponding to operator's finger position. The following results are obtained. (1) Position control type: This type can realize the stable system for applied force. However, the force display does not show sharp linearity because it does not consider the force balance between the operator's finger and the interface. As the virtual environment dynamics must be used for realizing the Free Space, the unstable phenomenon occurs the continuation of the dynamic parameter is not guaranteed between the Free space and the Constrained Space. (2) Force control type: This system shows excellent performance as the force display because it actually generates the force by itself. However, the unstable phenomenon occurs when the force display becomes larger in relation to the user's finger reflecting force.
一般社団法人日本機械学会の論文
2002-07-25

サーボ系の構成がハプティックインタフェースに及ぼす影響(機械力学,計測,自動制御)

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