MoD-2-2 STORAGE AND REPRODUCTION OF ENVIRONMENTAL HAPTIC SENSATIONS CONSIDERING RESOLUTION OF ENCODER

抄録

In the conventional reproduction system, minimum resolutions of the environmental haptic memories depend on a resolution of the encoder. The force command is generated by the differential form of the step function when a resolution of an encoder is less than the change in the position. Therefore, the force command value diverges to infinity. Thus, this paper shows that the system cannot reproduce the high-stiffness environment if the encoder resolution is considered. In addition, this paper indicates that the reproduction method based on admittance control realizes of reproducing the high-stiffness environment. The effectiveness of the reproduction method based on admittance control is confirmed by simulation and experimental results.