Position control for haptic device based on discrete-time proportional integral derivative controller
| Autor: | Long Vu Van, Khoa Nguyen Dang, Nguyen Van Tan, Pham Duc Dai |
|---|---|
| Rok vydání: | 2022 |
| Předmět: |
Novint Falcon
General Computer Science Computer science PID controller ComputerApplications_COMPUTERSINOTHERSYSTEMS Acceleration symbols.namesake Position (vector) Control theory Kinematics equations Position controller Jacobian matrix and determinant symbols Torque Electrical and Electronic Engineering Haptic ComputingMethodologies_COMPUTERGRAPHICS Haptic technology |
| Zdroj: | International Journal of Electrical and Computer Engineering (IJECE). 12:269 |
| ISSN: | 2722-2578 2088-8708 |
| DOI: | 10.11591/ijece.v12i1.pp269-276 |
| Popis: | Haptic devices had known as advanced technology with the goal is creating the experiences of touch by applying forces and motions to the operator based on force feedback. Especially in unmanned aerial vehicle (UAV) applications, the position of the end-effector Falcon haptic sets the velocity command for the UAV. And the operator can feel the experience vibration of the vehicle as to the acceleration or collision with other objects through a forces feedback to the haptic device. In some emergency cases, the haptic can report to the user the dangerous situation of the UAV by changing the position of the end-effector which is be obtained by changing the angle of the motor using the inverse kinematic equation. But this solution may not accurate due to the disturbance of the system. Therefore, we proposed a position controller for the haptic based on a discrete-time proportional integral derivative (PID) controller. A Novint Falcon haptic is used to demonstrate our proposal. From hardware parameters, a Jacobian matrix is calculated, which combines with the force output from the PID controller to make the torque for the motors of the haptic. The experiment was shown that the PID has high accuracy and a small error position. |
| Databáze: | OpenAIRE |
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