Dynamic modeling and control simulation of a haptic device

In this paper dynamic modeling, simulation and control of a six-DOF haptic interface are discussed, And two control strategies (the admittance control method and the impedance Control with Force Feedback method) are used for the applications of human/virtual environment, interaction. The simulated results of the admittance control are compered with the impedance control with force feedback. In this paper the Adams/Controls, part of the MD Adams software is used for modeling the dynamic behavior of the haptic device. The Adams model of the haptic interface is transferred directly to the MATLAB/Simulink environment. Then the simulation of the virtual environment and the controller design are performed in the MATLAB Simulink environment. In fact a real-time connection between the dynamic model and the controller is made by connection of the two software. Feedback linereazation method is used to control of position in the admitance control method. Then, dynamic equations of the haptic interface is derived, and integrated with the feedback linearization controller.