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. 

Copyright Owner

Isaac Garlington

Language

en

File Format

application/pdf

File Size

78 pages

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