Design and Evaluation of Force Display System That Considers Mechanical Component Deflection

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Research areas:
Year:
2019
Type of Publication:
Article
Keywords:
Force Display, Force Control, Model Following Control, Deflection, Virtual Reality
Authors:
Hiroaki Yoshida; Keisuke Kusano
Journal:
IJAIM
Volume:
8
Number:
2
Pages:
12-25
Month:
September
ISSN:
2320-5121
Abstract:
Recently, as the field of virtual reality has advanced, 3D displays have become among the more relevant technologies used in their related applications. This is because 3D displays can be achieved by passive devices. However, force reproduction is also needed for virtual reality, and the most crucial technical aspect of that technology is force control. Force reproduction by a device, which is called force display, is difficult to realize because it requires interactions between an operator and an active device. Additionally, since a force display must control the dynamic characteristics of the device in order to create accurate force reproductions, the mass of the arm should be small. However, reducing the arm mass makes deflection easier, so it is necessary to control such deflection in order to reproduce force correctly. Generally, impedance control is used for force control. However, in this study, model following control (FMC) is used to facilitate force display. In use, FMC synchronizes the output of the plant with the desired model output but the control law is led easily by output error dynamics. In this paper, we applied the control in consideration of the arm deflection to the force display and confirmed its effectiveness via simulation and experiment data.
Full text: IJAIM_615_FINAL.pdf

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