Modelling and control of a haptic interface, a mechatronics approach

Abstract

With the advent of virtual reality and the inaeasing power of modern computers, there is renewed interest in new modalities for the human-machine interface.Force feedback is gaining momentum as new applications of teleoperation and h a p tic devices are discovered.This work applies the principles of mechatronics to the design and control of a novel five-bar robot for use as a haptic interface.Since the robot indudes flexibility, a general model for a two degree-of-freedom f l d e Xllt . . . . . .