ME 327: Design and Control of Haptic Systems

Autumn 2012

Lecture 9:
Admittance-type haptic devices
and Paper discussion
Allison M. Okamura
Stanford University
 admittance-type
kinesthetic devices
(until now we have focussed on
impedance-type haptic devices )

Stanford University ME 327: Design and Control of Haptic Systems © Allison M. Okamura, 2012
 admittance control
the user’s applied force is measured, and the haptic device
is controlled to move proportionally to that force

a typical implementation is:

ẋd = ka f
fa = kp (xd x) + kd (ẋd ẋ)
xd , ẋd desired robot position, velocity fa actuator force
ka admittance gain x, ẋ device position, velocity
f force applied by the user (measured) kp , kd proportional and
derivative gains
Stanford University ME 327: Design and Control of Haptic Systems © Allison M. Okamura, 2012
 questions

what happens when ka is zero?

how would you create a virtual surface/wall

using admittance control?

Stanford University ME 327: Design and Control of Haptic Systems © Allison M. Okamura, 2012
 admittance control
enables very slow, steady motions

is a an excellent underlying control structure for

creating very stiff virtual walls

appropriate for nonbackdrivable motors

requires a force sensor

creates low-impedance “free space” with difficulty

Stanford University ME 327: Design and Control of Haptic Systems © Allison M. Okamura, 2012
 impedance admittance
F (s) = Z(s)X(s) X(s) = Y (s)F (s)

dual concepts, just different causality

with implications
F(t)
for
+ practical
Device
!_ V(t)
implementation onF (t)haptic devices
Dynamics
a T
Programmed
!
ZOH dt
Impedance
F(t)
+ Device (a)
!_
Dynamics V(t)
T
Fa(t) T F(t) Programmed Servo
Programmed ZOH V(t)
Dynamics
!
ZOH dt Admittance
Impedance
(b)
(a)
Figure 1.2: Robots of the (a) impedance and (b) admittance types. F (t) is
Stanford University
T ME 327: Design and Control of Haptic
externally-applied Systems
force, and V (t) is the resulting©robot
Allison M. Okamura,
velocity. For the2012
impeda
F(t) Programmed Servo
ZOH V(t)
Admittance Dynamics type robot, Fa (t) is the actuator force.
 impedance admittance

SensAble Phantom Premium SensAble Phantom Omni

Moog FCS Robotics Haptic Master

Force Dimension Omega Novint Falcon

Haptic
Haptic knob JHU Steady-Hand Robot
paddle
Stanford University ME 327: Design and Control of Haptic Systems © Allison M. Okamura, 2012
 discussion of papers

Stanford University ME 327: Design and Control of Haptic Systems © Allison M. Okamura, 2012
 papers
V. Hayward and K. E. MacLean. Do It Yourself
Haptics, Part I. IEEE Robotics and Automation
Magazine, 14(4):88-104, 2007.

A. M. Okamura, C. Richard, and M. R. Cutkosky. Feeling

is Believing: Using a Force-Feedback Joystick
to Teach Dynamic Systems. ASEE Journal of
Engineering Education, 91(3): 345-349, 2002.

Stanford University ME 327: Design and Control of Haptic Systems © Allison M. Okamura, 2012
 discussion points
(loosely based on the readings)

1. what practically limits the workspace of a haptic device?

2. what happens when you hook two motors together?
3. what are amplifier dynamics?
4. provide a clean verbal explanation of why the system in Figure 6
is inherently unstable
5. why is the haptic paddle more interesting than the haptic knob?
6. explain the perceptual mechanism that makes the “simple
surface display” work

Stanford University ME 327: Design and Control of Haptic Systems © Allison M. Okamura, 2012