A Critical Study of the Mechanical and Electrical Properties of the PHANToM Haptic Interface and Improvements for High Performance Control
نویسندگان
چکیده
This paper presents a critical study of the mechanical and electrical properties of the PHANToM haptic interface and improvements to overcome its limitations for applications requiring high performance control. Target applications share the common requirements of low noise/granularity/latency measurements, an accurate system model, high bandwidth, the need for an open architecture, and the ability to operate for long periods without interruption while exerting significant forces. To satisfy these requirements, the kinematics, dynamics, high frequency dynamic response, and velocity estimation of the PHANToM system are studied. Furthermore, this paper presents the details of how the unknown subsystems of the stock PHANToM can be replaced with known, high performance systems and additional measurement electronics can be interfaced to compensate for some of the PHANToM’s shortcomings. With these modifications, it is possible to increase the maximum achievable virtual wall stiffness by 35%, active viscous damping by 120%, and teleoperation loop gain by 50% over the original system. With the modified system, it is also possible to maintain higher forces for longer periods without causing motor overheating.
منابع مشابه
The MIT Press Journals
This paper presents a critical study of the mechanical and electrical properties of the PHANToM haptic interface and improvements to overcome its limitations for applications requiring high-performance control. Target applications share the common requirements of low-noise/granularity/latency measurements, an accurate system model, high bandwidth, the need for an open architecture, and the abil...
متن کاملEffect of rotary friction welding variables on mechanical and physical properties of aluminum-copper tube joints
The aim of this study is to investigate the effect of rotary frictional welding process variables on microstructure, mechanical and physical properties of copper-aluminum dual-tube pipes. For this purpose, using a thermosetting friction welding machine, a copper pipe (99.44% purity) with a similar diameter aluminum tube (1050), was welded in three different conditions with different friction pr...
متن کاملEffect of rotary friction welding variables on mechanical and physical properties of aluminum-copper tube joints
The aim of this study is to investigate the effect of rotary frictional welding process variables on microstructure, mechanical and physical properties of copper-aluminum dual-tube pipes. For this purpose, using a thermosetting friction welding machine, a copper pipe (99.44% purity) with a similar diameter aluminum tube (1050), was welded in three different conditions with different friction pr...
متن کاملA new approach to predict of mechanical properties at the interface of Aluminium/Copper explosive cladding by explosive scarf welding
Abstract: The purpose of this study is to produce scarf joint through explosive welding process (EXW). The scarf weld is a process in which the final bond interface is oblique. With applying the explosive welding technique, this joint can create a metallic bond between similar or dissimilar metals. In this study, chamfered end of aluminum and copper plates were joined explosively and named scar...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Presence
دوره 11 شماره
صفحات -
تاریخ انتشار 2002