Closed-loop force control for haptics simulation Sensory-Mode Interaction
I laptics is the science of touch. The project is based on the concept of sensorymode interaction, haptics simulation and closed-loop force control feedback. Three different types of objects with three different stiffness and friction are simulated and touched via PHANToM device. In order to cont...
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| Format: | Final Year Project |
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Universiti Teknologi Petronas
2009
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| Online Access: | http://utpedia.utp.edu.my/1045/ |
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| Institution: | Universiti Teknologi Petronas |
| Summary: | I laptics is the science of touch. The project is based on the concept of sensorymode
interaction, haptics simulation and closed-loop force control feedback. Three
different types of objects with three different stiffness and friction are simulated and
touched via PHANToM device. In order to control and prevent the permenant
deformation of materials, the input force that user exert while touching the virtual
object should be control. The simulation program also controls the user input force
according to the maximum force that each materials can accept. After the simulation
program was completed, a simple controller will designed for the system and
performances will be analyzed. This report explains in details about how to
implement haptic program, controlling the user input force in accordance with real
life data as well as the plans to implement the controller for the haptic simulation
system completed.
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