On the Emulation of Stiff Walls and Static Friction With a Magnetically Levitated Input/Output Device
- 1 March 1997
- journal article
- Published by ASME International in Journal of Dynamic Systems, Measurement, and Control
- Vol. 119 (1) , 127-132
- https://doi.org/10.1115/1.2801204
Abstract
This technical brief addresses issues of mechanical emulation of stiff walls and stick-slip friction with a 6-DOF magnetically levitated joystick. In the case of stiff wall emulation, it is shown that the PD control implementation commonly used severely limits achievable wall damping and stiffness. It is also shown that the perceived surface stiffness can be increased without loss of stability by applying a braking force pulse when crossing into the wall. For stick-slip friction, Karnopp’s model was implemented using a PD controller within the stick friction threshold. Even though the PD controller allows some motion during the stick phase, the haptic feedback provided is remarkably similar to stick-slip friction.Keywords
This publication has 10 references indexed in Scilit:
- A force-reflecting teleoperation system with magnetically levitated master and wristPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- A force-reflecting teleoperated hand system for the study of tactile sensing in precision manipulationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Implementation of stiff virtual walls in force-reflecting interfacesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Precision assembly with a magnetically levitated wristPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- System for the implementation and kinesthetic display of virtual environmentsPublished by SPIE-Intl Soc Optical Eng ,1993
- A six-degree-of-freedom magnetically levitated variable compliance fine-motion wrist: design, modeling, and controlIEEE Transactions on Robotics and Automation, 1991
- Feeling and seeing: issues in force displayPublished by Association for Computing Machinery (ACM) ,1990
- Controlled Impedance Test Apparatus for Studying Human Interpretation of Kinesthetic FeedbackPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1989
- Force display in molecular dockingJournal of Molecular Graphics, 1988
- Computer Simulation of Stick-Slip Friction in Mechanical Dynamic SystemsJournal of Dynamic Systems, Measurement, and Control, 1985