Haptic paddle and fuzzy based virtual environment model control system as a didactic tool

Author

Krivic, Senka ; Kaknjo, A. ; Hujdur, Muhidin ; Zubovic, N. ; Sokic, Emir

Author_Institution

Fac. of Electr. Eng. Sarajevo, Sarajevo, Bosnia-Herzegovina

fYear

2012

fDate

21-23 Nov. 2012

Firstpage

142

Lastpage

148

Abstract

The paper deals with design, construction and implementation of bilateral control system using fuzzy regulation. The aim of paper is implementation of a system which can be used as a didactic tool for better understanding of bilateral control concepts, as well as a base for further work. The system is composed of mechanical model of haptic paddle with one degree of freedom and virtual model of haptic paddle and its environment, interconnected using acquisition card. Virtual environments control is created using fuzzy logic. After implementing control algorithm and connecting two models - the mechanical and virtual, the functionality of system was confirmed by experimental data.

Keywords

control engineering computing; force control; fuzzy control; fuzzy logic; haptic interfaces; position control; acquisition card; bilateral control system; control algorithm; didactic tool; fuzzy based virtual environment model control system; fuzzy logic; fuzzy regulation; haptic paddle; mechanical model; virtual environment control; virtual model; friction force; fuzzy; haptic; position dependent control; speed dependent control; virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics (MECATRONICS) , 2012 9th France-Japan & 7th Europe-Asia Congress on and Research and Education in Mechatronics (REM), 2012 13th Int'l Workshop on

Conference_Location

Paris

Print_ISBN

978-1-4673-4770-9

Electronic_ISBN

978-1-4673-4771-6

Type

conf

DOI

10.1109/MECATRONICS.2012.6451000

Filename

6451000