DocumentCode
559003
Title
Optimal design of a new 6-DOF haptic device
Author
Hung, Vu Minh ; Na, Uhn Joo
Author_Institution
Div. of Mech. Eng. & Autom., Kyungnam Univ., Gyungnam, South Korea
fYear
2011
fDate
26-29 Oct. 2011
Firstpage
849
Lastpage
852
Abstract
This paper presents the optimal design and self-tuning fuzzy PID force control of a new 6-DOF haptic device. The haptic device is designed to select the optimal lengths of links so that requirements of workspace, force transmission ratio and singular configuration are satisfied. These requirements produce a composite global design index as a multi objective function. The indexes of optimal design are described in the discrete domain where the local workspace is approximated by a pyramid. The comparisons of six designs for six different weighting factors indicate the best case of optimal design.
Keywords
control system synthesis; force control; fuzzy control; haptic interfaces; telerobotics; three-term control; 6-DOF haptic device; composite global design index; force transmission ratio; multiobjective function; optimal design; self tuning fuzzy PID force control; singular configuration; Force; Haptic interfaces; Indexes; Jacobian matrices; Joints; Kinematics; Robots; Haptic device; Teleoperation; force control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location
Gyeonggi-do
ISSN
2093-7121
Print_ISBN
978-1-4577-0835-0
Type
conf
Filename
6106341
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