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Energy-based control of a haptic device using brakes
Changhyun Cho1, Jae-Bok Song, Munsang Kim
1Korea Institute of Science and Technology, Center for Intelligent Robotics, Seoul 136-791, Korea. chcho@kist.re.kr
Abstract:
This paper proposes an energy-based control method of a haptic device with electric brakes. Unsmooth motion is frequently observed in a haptic system using brakes during a wall-following task. Since it is generally known that a haptic system using brakes is passive due to brake's characteristics, its energy behavior has seldom been investigated. However, force distribution at the end effector reveals that the unsmooth motion of a haptic system using brakes represents active behavior of the system in the specific direction. A force control scheme is proposed that computes the gain for smooth motion by considering the energy behavior of a system. Experiments show that smooth wall following is possible with a proposed force control scheme.
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