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[Th019] Citation: M. Moreyra, 'Design of a Planar High Bandwidth Force Display with Force Sensing,'
MSEE Thesis, University of Washington, Department of Electrical Engineering, August, 1996.
Abstract
The design of a planar high bandwidth force display and its force
sensor are described. A simplified model of the dynamic
characteristics, including fast dynamics, was formulated and analyzed.
A controller, in which the contact forces were amplified using
actuators, was implemented for reducing the force a user requires for
driving the end effector. The analysis indicated that the closed-loop
control system was conditionally stable. The system became unstable for
force gains larger than two. Qualitative analysis showed that by
increasing the mechanical damping, the performance of the closed-loop
system could be improved. Experimental results showed that the average
forces for moving the handle in free space were reduced to one sixth
when using the force sensor based controller, similarly, the typical
peak forces were reduced to one third. Measurements of contact forces
versus commanded forces on the HBFD during elastic collisions were
performed. This measurements showed that the mechanical transmission of
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Updated: Tue Jul 15 23:54:51 2008
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