diyath2010
Electrical
- Nov 6, 2020
- 1
Hey,
for my undergraduate final research, I hope to build a differential drive robot that has the ability to send the haptic data about the nature of the surface that it drives back to the user's haptic enabled joystick. From the haptic data, I refer the wheel resistance, obstacles etc. First I thought of measuring currents of each motor and send it back to the main controller and use that data to generate haptic output at the joystick. Also measuring each motor's torque, I think I can get some useful info. But the following questions remain unanswered.
1. What is the optimum method of acquiring the surface data? Is it current? Torque? or something else?
2. What happens when the robot is turning. How the parameters change at that instance?
3. Assuming I have found the correct parameter to send the haptic data to the user's end, how is that measured quantity from both of
the motors are manipulated to get an force signal back to the joystick. What I mean here is somewhat of a mathematical model
required to represent the force.
If you can help me with any of this problems, I'd be really glad coz I'm stuck here and searched a lot but couldn't get the desired details. Even if you can guide me to the right path, it's a big help!!
for my undergraduate final research, I hope to build a differential drive robot that has the ability to send the haptic data about the nature of the surface that it drives back to the user's haptic enabled joystick. From the haptic data, I refer the wheel resistance, obstacles etc. First I thought of measuring currents of each motor and send it back to the main controller and use that data to generate haptic output at the joystick. Also measuring each motor's torque, I think I can get some useful info. But the following questions remain unanswered.
1. What is the optimum method of acquiring the surface data? Is it current? Torque? or something else?
2. What happens when the robot is turning. How the parameters change at that instance?
3. Assuming I have found the correct parameter to send the haptic data to the user's end, how is that measured quantity from both of
the motors are manipulated to get an force signal back to the joystick. What I mean here is somewhat of a mathematical model
required to represent the force.
If you can help me with any of this problems, I'd be really glad coz I'm stuck here and searched a lot but couldn't get the desired details. Even if you can guide me to the right path, it's a big help!!
