| Issue |
MATEC Web of Conferences
Volume 159, 2018
The 2nd International Joint Conference on Advanced Engineering and Technology (IJCAET 2017) and International Symposium on Advanced Mechanical and Power Engineering (ISAMPE 2017)
|
|
|---|---|---|
| Article Number | 02043 | |
| Number of page(s) | 6 | |
| Section | Manufacturing | |
| DOI | https://doi.org/10.1051/matecconf/201815902043 | |
| Published online | 30 March 2018 | |
Optimal passivity design of a virtual coupling including FIR-type fractional derivatives for a haptic interface
University of Fukui, Department of Mechanical Engineering, 3-9-1 Fukui, 9108507, Japan
* Corresponding author: m_kawai@u-fukui.ac.jp
This paper describes a haptic interface with a virtual coupling, including fractional derivatives. A haptic interface is a force feedback technology in virtual reality that takes advantage of the human sense of touch. In a haptic interface, virtual impedance, that is called virtual coupling (VC), is commonly used between the virtual and real objects to calculate reaction force. VC generally consists of a virtual stiffness and damper, but the stiffness has to be set low in a system with long sampling periods. In order to increase the virtual stiffness, this paper considers a VC including fractional derivatives approximated by an FIR approximation. First, we theoretically analyse effects of a single fractional derivative term by using the passivity analysis, but the result shows that its effects depend on the occurred frequency. This paper, therefore, proposes a method to combine multiple fractional derivative terms in a VC and a method to optimize parameters in each fractional derivative term. Finally, experiments are performed to measure the maximum value of the stiffness to illustrate the effects of the proposed method.
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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