Cho Changhyun, Song Jae-Bok, Kim Munsang
Korea Institute of Science and Technology, Center for Intelligent Robotics, Seoul 136-791, Korea.
IEEE Trans Syst Man Cybern B Cybern. 2007 Apr;37(2):341-9. doi: 10.1109/tsmcb.2006.883431.
This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme.
本文提出了一种基于能量的带电动制动器的触觉设备控制方法。在壁面跟踪任务期间，使用制动器的触觉系统中经常观察到运动不平稳。由于众所周知，使用制动器的触觉系统由于制动器的特性是被动的，因此很少对其能量行为进行研究。然而，末端执行器处的力分布表明，使用制动器的触觉系统的不平稳运动代表了系统在特定方向上的主动行为。提出了一种力控制方案，该方案通过考虑系统的能量行为来计算平稳运动的增益。实验表明，采用所提出的力控制方案可以实现平稳的壁面跟踪。
