DSpace DSpace 日本語

AIT Associated Repository of Academic Resources >
A.研究報告 >
A1 愛知工業大学研究報告 >
3.愛知工業大学研究報告 .B(1976-2007) >
33号 >

Please use this identifier to cite or link to this item: http://hdl.handle.net/11133/1043

Title: DDFS回路を用いた仮想触覚のシミュレーション
Other Titles: DDFS カイロ オ モチイタ カソウ ショッカク ノ シミュレーション
Simulation of virtual tactile sense using DDFS circuit
Authors: 金, 時學
金, 永炯
平松, 誠治
加藤, 厚生
Kim, Sea-hak
Kim, Young-Dong
KATO, Atsuo
Issue Date: 31-Mar-1998
Publisher: 愛知工業大学
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.
URI: http://hdl.handle.net/11133/1043
Appears in Collections:33号

Files in This Item:

File Description SizeFormat
紀要33号B(P23-29).pdf638.1 kBAdobe PDFView/Open

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.


Valid XHTML 1.0! DSpace Software Copyright © 2002-2010  Duraspace - Feedback