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Intelligent Service Robotics
Erschienen in: Intelligent Service Robotics 3/2018

18.05.2018 | Original Research Paper

Stable haptic rendering in interactive virtual control laboratory

verfasst von: Saeed Amirkhani, Behnoosh Bahadorian, Ali Nahvi, Ali Chaibakhsh

Erschienen in: Intelligent Service Robotics | Ausgabe 3/2018

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Abstract

Stable control of haptic interfaces is one of the most important challenges in haptic simulations, because any instability of a haptic interface can cause it to get far from the realistic sense. In this paper, the control strategies employed for a stable haptic rendering in an interactive virtual control laboratory are presented. In this interactive virtual laboratory, there are different scenarios to teach the control concepts, in which a haptic interface is used in the two cases of force control and position control. In this regard, two control strategies are employed to avoid instability. An energy-compensating controller is utilized to remove energy leakage. Besides, a fuzzy impedance control is used along with the energy-compensating controller for the position control scenarios. The results obtained indicate the proposed approaches practically guarantee the stability of the haptic interface for an educational application in practice.
Vorheriger Artikel SoTCM: a scene-oriented task complexity metric for gaze-supported teleoperation tasks
Nächster Artikel A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment

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Metadaten
Titel
Stable haptic rendering in interactive virtual control laboratory
verfasst von
Saeed Amirkhani
Behnoosh Bahadorian
Ali Nahvi
Ali Chaibakhsh
Publikationsdatum
18.05.2018
Verlag
Springer Berlin Heidelberg
Erschienen in
Intelligent Service Robotics / Ausgabe 3/2018
Print ISSN: 1861-2776
Elektronische ISSN: 1861-2784
DOI
https://doi.org/10.1007/s11370-018-0252-2

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