Degree Type
Thesis
Date of Award
2012
Degree Name
Master of Science
Department
Mechanical Engineering
First Advisor
Judy M. Vance
Second Advisor
Greg R. Luecke
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.
DOI
https://doi.org/10.31274/etd-180810-2736
Copyright Owner
Isaac Garlington
Copyright Date
2012
Language
en
File Format
application/pdf
File Size
78 pages
Recommended Citation
Garlington, Isaac, "Expanding the usable workspace of a haptic device by placing it on a moving base" (2012). Graduate Theses and Dissertations. 12715.
https://lib.dr.iastate.edu/etd/12715
