Dynamics Modeling of an Encountered Haptic Interface for Ball Catching and Impact Tasks Simulation

摘要

This paper deals with a model-based control strategy implemented on an encountered haptic interface developed for the simulation of ball catching tasks. A dynamical model of a reference device has been developed and validated by experimental results. This model was applied to increase the control performance and to simulate realistic impacts. The control strategy to generate the haptic interface trajectories consistent with the simulation of ballistic motion of virtual objects has been defined. At the impact instant the perceptively correct kinetic energy is transferred from the device end-effector to the user hand adopting a velocity scaling rule. Experimental results confirm control accuracy in fast dynamics trajectory tracking.