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Cable tension control and analysis of reel transparency for 6-DOF haptic foot platform on a cable-driven locomotion interface

Otis Martin J.-D., Nguyen-Dang Thien-Ly, Laliberte Thierry, Ouellet Denis, Laurendeau Denis et Gosselin Clément. (2009). Cable tension control and analysis of reel transparency for 6-DOF haptic foot platform on a cable-driven locomotion interface. International Journal of Electrical and Electronics Engineering, 3, (1), p. 16-29.

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URL officielle: http://www.waset.org/journals/ijeee/v3/v3-1-3.pdf

Résumé

A Cable-Driven Locomotion Interface provides a low inertia haptic interface and is used as a way of enabling the user to walk and interact with virtual surfaces. These surfaces generate Cartesian wrenches which must be optimized for each motorized reel in order to reproduce a haptic ensation in both feet. However, the use of wrench control requires a measure of the cable tensions applied to the moving platform. The latter measure may be inaccurate if it is based on sensors located near the reel. Moreover, friction hysteresis from the reel moving parts needs to be compensated for with an evaluation of low angular velocity of the motor shaft. Also, the pose of the platform is not known precisely due to cable sagging and mechanical deformation. This paper presents a non-ideal motorized reel design with its corresponding control strategy that aims at overcoming the aforementioned issues. A transfert function of the reel based on frequency responses in function of cable tension and cable length is presented with an optimal adaptative PIDF controller. Dynamic and static reel transparencies are evaluated experimentally with a cost function to optimize and with an analysis of friction respectively. Finally, a hybrid position/tension control is discussed with an analysis of the stability for achieving a complete functionality of the haptic platform.

Type de document:Article publié dans une revue avec comité d'évaluation
Volume:3
Numéro:1
Pages:p. 16-29
Version évaluée par les pairs:Oui
Date:2009
Sujets:Sciences naturelles et génie > Génie > Génie mécanique
Département, module, service et unité de recherche:Départements et modules > Département des sciences appliquées
Mots-clés:Haptic, cable-driven, locomotion interface, human
Déposé le:26 avr. 2013 00:54
Dernière modification:26 avr. 2013 00:54
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