Simulation of the Admittance Control Based Haptic Interface Device

The purpose of this paper is to demonstrate the simulation of the haptic interface device utilizing the admittance control method for the applications of human/virtual environment interaction. . The dynamics of the haptic interface is derived, and then it is integrated with the admittance interaction loop. In doing so, firstly, the haptic device is simulated and the design of it is done through Adams software. Further, the control loop is simulated in MATLAB/Simulink and the link angles in Adams are imported into MATLAB. For the purpose of simulation, an environment is simulated interacting with the haptic device and eventually, a collision is occurred in the simulated environment. Moreover, a desired position to generate the collision effect iscalculated and is controlled during the simulation process. Then, the required torque command for this position is computed and is given to the motors of simulated haptic interface. There should be a real-time relationship between the haptic control loop and the simulated haptic interface. In this work, thefeedback linearization method is utilized for the control loop. For the purpose of verification, the model of the haptic interface device of the Mechatronics and Robotics Laboratory is used in simulation.

کلیدواژه ها:

Haptic Interface ، Impedance Control ، Admittance Control ، Real-Time