A control-system architecture for robots used to simulate dynamicforce and moment interaction between humans and virtual objects

摘要

Haptic or kinesthetic feedback is essential in many importantnvirtual reality and telepresence applications. Previous research focusesnon simulating static forces such as those encountered when interactingnwith a stiff object such as a wall. Past studies usually employncustom-made devices that are not readily available to other researchers.nConsequently, many of the results found in the haptic feedbacknliterature cannot be replicated independently. With experimentalnresults, the paper demonstrates that “off the shelf,”ngeneral purpose robotics equipment can be incorporated into an effectivenhaptic/kinesthetic feedback system. Such a system can accommodate a widenvariety of virtual reality applications including training andntelerobotics. An admittance control scheme is utilized, which enablesnthe simulation of dynamic force and moment interaction as well asncontact with stiff objects. The paper shows that the mechanicalndeficiencies (e.g., friction, inertia, and backlash) often associatednwith general purpose manipulators can be overcome with a suitablencontrol system architecture