DDFS回路を用いた仮想触覚のシミュレーション

Abstract

When making a high performance haptic interface, it is very important to have high safty and high position resolution. Up untill now, almost all haptic interfaces have used velocity control mode or torque control mode in order to achieve impedance control. When the servo controller of haptic interface has been used to analog circuits, there are always noise problems, in turn, affect position resolution. We tried analog viscosity/elastic control board with filtering to solve this noise problem. But the result was also same. To solve this noise problem, it is fundamental to use digital circuits to make a high performance haptic interface which has safety and position resolution. When the servo driver is in position mode, the input signal is limitted by the number of pulses. In order to regulate velocity control mode, we have to manipulate the pulse of frequency. We fabricated a DDFS circuit to control the pulse frequency, and used this signal. We then were able to simulate simple reflect force experiment and texture sense in a digital circuit.