Motion control of impedance-type haptic devices

摘要

A control method for an haptic device is provided with particular attention to motor control amplifiers exploiting the inate motor dynamics of DC motors. The control method encompasses a digital and analog circuit. In the digital circuit, a command voltage is determined by a digital controller utilizing sensed motion information of the haptic device and a motion command signal. In the analog circuit, an amplifier applies a voltage to an electrical DC motor. The applied voltage incorporates the determined command voltage from the digital controller and a voltage to reduce the electrical dynamics of the electrical DC motor.