NDLI: Interfacing a Force-Feedback Joystick with a Hydraulic Robot Arm

Content Provider	IEEE Xplore Digital Library
Author	Mckinsey, J.R. Chiu, G.T.-C.
Copyright Year	2007
Description	Author affiliation: Purdue Univ., West Lafayette (Mckinsey, J.R.; Chiu, G.T.-C.)
Abstract	The interfacing of haptic and hydraulic systems produce great benefits and the application of these systems will increase over time. This research presents one approach to successfully interfacing a force-feedback joystick with a hydraulic robot arm. In order to complete this task, two mild-stones have to be achieved. First, an expression representing the value of the displayed force needs to be determined. Secondly, a real-time interface has to exist between the force-feedback joystick and the hydraulic arm. The method chosen to determine the displayed force is based on Lagrange-Euler recursive equations for generalized linkages. These equations represent the system dynamics and can be used to determine the desired drive efforts. The calculated drive effort combined with an experimentally modeled frictional effect is then used to compute the necessary display force. The force-feedback joystick chosen was an impulse engine 2000. From this research, it can be observed that modeling the effect of friction definitely improves the accuracy of the display force. It also can be inferred that using Lagrange-Euler to determine the display force is not a desirable method for mass production of hydraulic force-feedback systems.
Starting Page	497
Ending Page	503
File Size	556152
Page Count	7
File Format	PDF
ISBN	1424407893
DOI	10.1109/CIRA.2007.382881
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-06-20
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Lagrangian functions Equations Haptic interfaces Hydraulic systems Couplings Drives Computer displays Engines Friction
Content Type	Text
Resource Type	Article

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