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Analysis and control of a force display system driven by parallel wire mechanism

Published online by Cambridge University Press:  01 September 1998

Tetsuya Morizono ,
Kazuhiro Kurahashi  and
Sadao Kawamura
Tetsuya Morizono
Affiliation:
Department of Robotics, Faculty of Science and Engineering, Ritsumeikan University, 1-1-1, Noji-Higashi, Kasatsu, Shiga, 525-0058, Japan. E-mail: gr010952@bkc.ritsumei.ac.jp, kawamura@bkc.ritsumei.ac.jp
Kazuhiro Kurahashi
Affiliation:
Department of Robotics, Faculty of Science and Engineering, Ritsumeikan University, 1-1-1, Noji-Higashi, Kasatsu, Shiga, 525-0058, Japan. E-mail: gr010952@bkc.ritsumei.ac.jp, kawamura@bkc.ritsumei.ac.jp
Sadao Kawamura
Affiliation:
Department of Robotics, Faculty of Science and Engineering, Ritsumeikan University, 1-1-1, Noji-Higashi, Kasatsu, Shiga, 525-0058, Japan. E-mail: gr010952@bkc.ritsumei.ac.jp, kawamura@bkc.ritsumei.ac.jp
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Abstract

In this paper, we develop a force display system using parallel wire mechanism for virtual sports training with high speed motion. We firstly point out a control issue of the force display system driven by parallel wire mechanism. Based on the analysis, control laws are proposed to improve performance of the force display system. It is experimentally demonstrated that the proposed control laws realize higher acceleration and lower reaction force than other force display systems. Using the experimental result, the performance of the system is evaluated quantitatively.

Keywords

Force display systemParallel wire mechanismStructural transparencyElasticityFeedback control lawStability analysisPerformance evaluation
Type
Research Article
Information
Robotica , Volume 16 , Issue 5 , September 1998 , pp. 551 - 563
Copyright
© 1998 Cambridge University Press

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