دانلود مقاله ISI انگلیسی شماره 80610
ترجمه فارسی عنوان مقاله

الگوریتم کنترل ترکیبی به منظور بهبود در هر دو دامنه امپدانس پایدار و شفافیت در دستگاه های لمسی

عنوان انگلیسی
Hybrid control algorithm to improve both stable impedance range and transparency in haptic devices
کد مقاله سال انتشار تعداد صفحات مقاله انگلیسی
80610 2013 14 صفحه PDF
منبع

Publisher : Elsevier - Science Direct (الزویر - ساینس دایرکت)

Journal : Mechatronics, Volume 23, Issue 1, February 2013, Pages 121–134

ترجمه کلمات کلیدی
شفافیت لمسی - ثبات لمسی - انفعال؛ کنترل ترکیبی؛ محرک فعال و غیر فعال
کلمات کلیدی انگلیسی
Haptic transparency; Haptic stability; Passivity; Hybrid control; Active and passive actuator
پیش نمایش مقاله
پیش نمایش مقاله  الگوریتم کنترل ترکیبی به منظور بهبود در هر دو دامنه امپدانس پایدار و شفافیت در دستگاه های لمسی

چکیده انگلیسی

An ideal haptic device should transmit a wide range of stable impedances with maximum transparency. When using active actuators, transparency improvement algorithms tend to decrease the range of attainable impedances. Passive actuators can transmit high impedances stably, but are not sufficient alone for transparency. In this study, a hybrid force control algorithm employing active and passive actuators was developed to improve the stable impedance range and transparency in haptic devices. A new transparency-Z-width plot is proposed as a way to evaluate the stable impedance range and transparency together. The hybrid control algorithm uses parameters to share the torque demand between two actuators with smooth transition. These parameters were determined and an artificial neural network (ANN) was used to extend them to the entire achievable impedance range. The algorithm was tested experimentally on a 1-DOF haptic device. The transparency experiments employed an excitation motor located at the user side of the device to evaluate various algorithms in time and frequency domains. Results showed that the proposed hybrid control algorithm enables simulation of higher range of impedances with higher transparency than the conventional algorithms.