Haptics control of a 3-axis cartesian robot for virtual reality | |
| Author | Poomwit Jaturongkhasumrit |
| Call Number | AIT Thesis no.ISE-23-10 |
| Subject(s) | Virtual reality Haptic devices Robots--Design and construction |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics |
| Publisher | Asian Institute of Technology |
| Abstract | The field of Virtual Reality (VR) has expanded beyond gaming and entertainment and has found significant applications in industrial, medical, and occupational training. To enhance the immersive experience of VR, the integration of haptic feedback becomes crucial. This thesis focuses on the development of a 3-axis cartesian robot as a haptic tool for VR applications, particularly in the context of physical therapist training. The objective is to provide users with improved resolution in both position and force feedback, simulating the sensation of holding and manipulating virtual objects.The study explores different control methods and algorithms for haptic feedback control, specifically impedance control and admittance control. The research addresses the limitations of existing haptic tools, such as the loss of resolution in high-torque models and the high stiffness of cartesian robots. By designing and constructing a 3- axis cartesian robot, this thesis aims to overcome these limitations and optimize the haptic feedback experience.The methodology involves constructing the robot to react to applied forces, resembling physical damper or spring systems based on programmed force formulas. The robot is also designed to sense the position of virtual planes, preventing undesired movements in the cartesian space. Experimental results demonstrate the robot's performance in terms of speed, linear resolution, force response, and interaction with virtual springs and planes. The limitations of the robot, including speed constraints and back-emf voltage issues, are discussed.Overall, this research contributes to the field of haptics and virtual reality by developing a 3-axis cartesian robot with enhanced force feedback capabilities. The findings highlight the need for improvements, such as higher-resolution load cells, a more stable base design, and motors with higher torque and lower back-emf voltage. These recommendations aim to enhance the system's response time and provide a more realistic and immersive haptic experience in virtual environments. |
| Year | 2023 |
| Type | Thesis |
| School | School of Engineering and Technology |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Mechatronics and Machine Intelligence (MMI) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Pisut Koomsap;Mongkol Ekpanyapong |
| Scholarship Donor(s) | His Majesty the King's Scholarships (Thailand) |
| Degree | Thesis (M. Eng.) - Asian Institute of Technology, 2023 |