Design of a Planar High Bandwidth Force Display with Force Sensing

Moreyra, M. (1996) Design of a Planar High Bandwidth Force Display with Force Sensing. Masters thesis, University of Washington.

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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

Item Type: Thesis (Masters)
Subjects: D Haptics
Divisions: Department of Electrical Engineering
Depositing User: Jeffrey Herron
Date Deposited: 07 Jul 2015 21:24
Last Modified: 07 Jul 2015 21:24
URI: http://brl.ee.washington.edu/eprints/id/eprint/79

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