Staff View: Position control for haptic device based on discrete-time proportional integral derivative controller

Position control for haptic device based on discrete-time proportional integral derivative controller

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 comman...

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Bibliographic Details
Main Authors:	Nguyen, Van Tan, Khoa Nguyen, Dang, Pham, Duc Dai, Long Vu, Van
Format:	Bài trích
Language:	English
Published:	IJECE 2022
Subjects:	Haptic Novint Falcon
Online Access:	https://ijece.iaescore.com/index.php/IJECE/article/view/24822 https://dlib.phenikaa-uni.edu.vn/handle/PNK/5912 http://doi.org/10.11591/ijece.v12i1.pp269-276
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spelling	oai:localhost:PNK-59122022-08-17T05:54:55Z Position control for haptic device based on discrete-time proportional integral derivative controller Nguyen, Van Tan Khoa Nguyen, Dang Pham, Duc Dai Long Vu, Van Haptic Novint Falcon 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. 2022-07-13T01:59:54Z 2022-07-13T01:59:54Z 2022 Bài trích https://ijece.iaescore.com/index.php/IJECE/article/view/24822 https://dlib.phenikaa-uni.edu.vn/handle/PNK/5912 http://doi.org/10.11591/ijece.v12i1.pp269-276 en IJECE
institution	Digital Phenikaa
collection	Digital Phenikaa
language	English
topic	Haptic Novint Falcon
spellingShingle	Haptic Novint Falcon Nguyen, Van Tan Khoa Nguyen, Dang Pham, Duc Dai Long Vu, Van Position control for haptic device based on discrete-time proportional integral derivative controller
description	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.
format	Bài trích
author	Nguyen, Van Tan Khoa Nguyen, Dang Pham, Duc Dai Long Vu, Van
author_facet	Nguyen, Van Tan Khoa Nguyen, Dang Pham, Duc Dai Long Vu, Van
author_sort	Nguyen, Van Tan
title	Position control for haptic device based on discrete-time proportional integral derivative controller
title_short	Position control for haptic device based on discrete-time proportional integral derivative controller
title_full	Position control for haptic device based on discrete-time proportional integral derivative controller
title_fullStr	Position control for haptic device based on discrete-time proportional integral derivative controller
title_full_unstemmed	Position control for haptic device based on discrete-time proportional integral derivative controller
title_sort	position control for haptic device based on discrete-time proportional integral derivative controller
publisher	IJECE
publishDate	2022
url	https://ijece.iaescore.com/index.php/IJECE/article/view/24822 https://dlib.phenikaa-uni.edu.vn/handle/PNK/5912 http://doi.org/10.11591/ijece.v12i1.pp269-276
_version_	1751856317553704960
score	8.891145

Position control for haptic device based on discrete-time proportional integral derivative controller

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