Study on the Kinematics, Inverse Kinematics and Control of a Haptic Interface Device

• Main Authors: Chang-Yi Chen, 陳昌毅
• Other Authors: Ming-Guo Her
• Format: Others
• Language: en_US
• Published: 2003
• Online Access: http://ndltd.ncl.edu.tw/handle/36460469954720912192

博士 === 大同大學 === 機械工程研究所 === 92 === The haptic interface device can be used in various areas such as, for human-machine interface, tele-presence or virtual reality. The purpose of this study was to use parallel mechanism as the haptic interface device and also a force sensor was set up to enables the operator to feel the actual force feedback from the virtual environment, just as s/he would from the real environment. Experiments using both cutting virtual oil clay and pushing a two springs system were used to analyze virtual reality. In this study, the medium of synchronous vision as well as force feedback information reached virtual reality effects with the haptic interface (i.e. the force sensor) and vision interface (i.e. the monitor) with real feeling feedback from the virtual environment. The fundamental problems of robot kinematics are the computation of forward and inverse mapping between joint space and Cartesian task space. In general, in robot control applications, there are two basic approaches to the solution of the inverse kinematics problem: (1) closed-form solutions (2) numerical solutions. The closed-form solution to the inverse kinematics problem may not exist except when the robot is designed with a specific kinematic structure. Moreover, most numerical solutions rely on the calculation of the inverse Jacobian matrix ( ) to solve the inverse kinematics problem. However, if the manipulator is near a singularity region, does not exist, thus, the inverse kinematics solution will not converge. This study presented the method which using fuzzy logic with genetic algorithm to solve the inverse kinematics problem. In theory, human dynamics involved in virtual reality control systems, i.e., her/his action including her/his arms, force feedback device and virtual reality environment was part of control scheme when her/his action linked up with the haptic interface device. In stability analysis, Nyquist stability criterion was used to analyze the stability for closed-loop system to ensure system''s stability. In experiment, both of visual and touch equipment were used in virtual reality tests. Also cutting virtual oil clay and pushing a two springs system experiments were carried out to confirm the performance and stability of the theoretical developments.