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[126] Citation: R. Adams, M. Moreyra, B. Hannaford,
'Excalibur, A Three-Axis Force Display,'
ASME Winter Annual Meeting Haptics Symposium, Nashville, TN, Nov. 1999.
Abstract
In haptic simulation, a force feedback device is combined
with a digital representation of a virtual world to create a
kinesthetically immersive experience. The force feed-back
device, or haptic display, is usually a robotic
manipulator with which a human operator interacts
physically, usually through a handle, stylus, finger-pad or
some other form of customized interface. Modeling of
the haptic display is often overlooked when building a
haptic simulation. Understanding the dynamic behavior
of the device is critical in assessing the stability and
performance of the overall system as well as in the
construction of the digital simulation. This paper
describes some of the special modeling requirements for
haptic displays. A dynamic model for Excalibur, a new
three-axis force display, is developed in a two step
process. First an analytical model is constructed based
on measured values and basic principals. Then the
model is tuned using the results of vibrational testing to
achieve a close match between the modal behavior of the
theoretical and real systems. Numerical and
experimental results are presented for representative
points in the device� workspace.
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