In this thesis, development of a control system is aimed for a 1 DOF haptic device,
namely Haptic Box. Besides, it is also constructed. Haptic devices are the
manipulators that reflect the interaction forces with virtual or remote environments to
its users. In order to reflect stiffness, damping and inertial forces on a haptic device
position, velocity and acceleration measurements are required. The only motion
sensor in the system is an incremental optical encoder attached to the back of the DC
motor. The encoder is a good position sensor but velocity and acceleration
estimations from discrete position and time data is a challenging work. To estimate
velocity and acceleration some methods in the literature are employed on the Haptic
Box and it is concluded that Kalman filtering gives the best results. After the velocity
and acceleration estimations are acquired haptic control algorithms are tried
experimentally. Finally, a virtual environment application is presented.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12608837/index.pdf |
| Date | 01 September 2007 |
| Creators | Bideci, Suleyman |
| Contributors | Konukseven, Ilhan |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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