Design and Implementation of Force-feedback System via Ethernet

Author

Lee, Jong-Bae ; Chung, Joong-Ki ; Kim, Young-Ouk ; Joon-hong Lim

Author_Institution

Korea Electronics Technology Institute(KETI), 203-103 B/D 192, Yakdae-Dong, Wonmi-Gu Puchon-Si, Kyunggi-Do, Korea, School of Electrical Engineering and Computer Science, Hanyang University, 1271, Sa-1 dong, Ansan, Kyunggi-do, Korea. E-mail: leejb@keti.re.

fYear

2003

fDate

12-12 June 2003

Firstpage

957

Lastpage

961

Abstract

In this paper, we investigate the issues for the design and implementation of tele-operated force-feedback system via Ethernet. Here, the 2-DOF haptic device and the x-y stage are employed as master controller and slave system respectively. In this master-slave system, the force feedback algorithm, the modeling of virtual environments and the control method of x-y stage with linear motors are proposed. In this paper, Ethernet network is used for data communication between master and slave. We construct virtual environment of the real wall from the force-feedback in controlling the x-y stage and getting the force applied by the 2-DOF haptic device.

Keywords

Communication system control; Control systems; Data communication; Ethernet networks; Force control; Force feedback; Haptic interfaces; Linear feedback control systems; Master-slave; Virtual environment;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation, 2003. ICCA '03. Proceedings. 4th International Conference on

Conference_Location

Montreal, Que., Canada

Print_ISBN

0-7803-7777-X

Type

conf

DOI

10.1109/ICCA.2003.1595164

Filename

1595164