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Design and control of a haptic interactive motion simulator for virtual entertainment systems

Published online by Cambridge University Press:  09 April 2009

M. Karkoub ,
M.-G. Her  and
J.-M. Chen
M. Karkoub*
Affiliation:
Mechanical Engineering Department, The Petroleum Institute, Abu Dhabi, P.O. Box 2533, UAE
M.-G. Her
Affiliation:
Department of Mechanical Engineering, Tatung University, 40 Chung-Shan North Road, 3rd Sector, Taipei, Taiwan10451
J.-M. Chen
Affiliation:
Department of Mechanical Engineering, Tatung University, 40 Chung-Shan North Road, 3rd Sector, Taipei, Taiwan10451
*
*Corresponding author. E-mail: mkarkoub@pi.ac.ae
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Summary

In this paper, an interactive virtual reality motion simulator is designed and analyzed. The main components of the system include a bilateral control interface, networking, a virtual environment, and a motion simulator. The virtual reality entertainment system uses a virtual environment that enables the operator to feel the actual feedback through a haptic interface as well as the distorted motion from the virtual environment just as s/he would in the real environment. The control scheme for the simulator uses the change in velocity and acceleration that the operator imposes on the joystick, the environmental changes imposed on the motion simulator, and the haptic feedback to the operator to maneuver the simulator in the real environment. The stability of the closed-loop system is analyzed based on the Nyquist stability criteria. It is shown that the proposed design for the simulator system works well and the theoretical findings are validated experimentally.

Keywords

Active joystickMotion simulator systemVirtual entertainment system
Type
Article
Information
Robotica , Volume 28 , Issue 1 , January 2010 , pp. 47 - 56
Copyright
Copyright © Cambridge University Press 2009

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