Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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The Haptic Display Model Development with the Karnopp Friction Model and the Proxy Concept

카르노프 마찰모델과 탐촉구 개념을 이용한 햅틱 디스플레이 모델 개발

  • 권혁조 (한국원자력연구소 건식공정핵연료기술개발부) ;
  • 김기호 (한국원자력연구소 건식공정핵연료기술개발부) ;
  • 오재윤 (전북대학교 기계항공시스템공학부)
  • Published : 2004.09.01
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Abstract

This study develops a haptic display model which is an indispensable for the force generation in the virtual environment. In developing the haptic display model, a Proxy concept and a Karnopp friction model are utilized to generate the reaction force and the friction force. Also this study develops a 2 D.O.F. remote wiping system. This system is composed of a 2 D.O.F. master manipulator, a force sensor equipped 2 D.O.F. slave manipulator and a real time controller. With the developed remote wiping system, this study identifies the friction characteristic of the aluminum, acryl and rubber plate. The results are used as the dynamic friction coefficient of the haptic display model. This study shows the efficiency of the developed haptic display model by the comparison between the friction characteristic of the haptic display with the developed haptic display model and the friction characteristic of the real aluminum, acryl and rubber plate.

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References

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