| Popis: |
In this thesis, development of a control system is aimed for a 1 DOF haptic device, namely Haptic Box. Besides, it is also constructed. Haptic devices are the manipulators that reflect the interaction forces with virtual or remote environments to its users. In order to reflect stiffness, damping and inertial forces on a haptic device position, velocity and acceleration measurements are required. The only motion sensor in the system is an incremental optical encoder attached to the back of the DC motor. The encoder is a good position sensor but velocity and acceleration estimations from discrete position and time data is a challenging work. To estimate velocity and acceleration some methods in the literature are employed on the Haptic Box and it is concluded that Kalman filtering gives the best results. After the velocity and acceleration estimations are acquired haptic control algorithms are tried experimentally. Finally, a virtual environment application is presented. |
