Expanding the usable workspace of a haptic device by placing it on a moving base

Date
2012-01-01
Authors
Garlington, Isaac
Major Professor
Advisor
Judy M. Vance
Greg R. Luecke
Committee Member
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Altmetrics
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Research Projects
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Mechanical Engineering
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Mechanical Engineering
Abstract

The goal of this research is to expand the reachable workspace of a haptic device when used in a projection screen virtual environment. The proposed method includes supplementing the haptic device with a redundant degree of freedom to provide motion of the base. The key research challenge is to develop controls for the mobile base that will keep the haptic end-effector in the usable haptic workspace at all times. An experimental set up consisting of an Omni haptic device and a XY motorized table was used in the development of the control algorithms. Tests were conducted which demonstrate that the force felt by the user when touching a virtual wall remains constant even when the mobile base is moving to re-center the haptic device in the usable haptic workspace. 

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