Izvorni znanstveni članak
https://doi.org/10.7305/automatika.54-1.300
Total Harmonic Distortion and Content Rate of Spatial Modal Information for Haptic Parallel Motion Analysis
Tomoyuki Shimono
; Department of Electronics and Information, Faculty of Engineering, Yokohama National University, 79-5 Tokiwadai Hodogaya-ku, Yokohama, Japan,
Yoshiyuki Hatta
; Honda Motor Co., Ltd.
Naoki Motoi
; Faculty of Engineering, Yokohama National University, 79-5 Tokiwadai Hodogaya-ku, Yokohama, Japan,
Sažetak
In this paper, two kinds of evaluation index for the haptic motion analysis in parallel multiple degrees–of–freedom (MDOF) system are proposed. At first, the spatial modal decomposition method based on discrete Fourier series expansion (DFS) is presented. Spatial modal information expresses a motion element that corresponds to a specific physical action. The spatial modal information can mathematically be defined by the Fourier coefficients. Then, this paper proposes the total harmonic distortion (THD) and the content rate of the haptic modal information as motion evaluation indexes. THD of the spatial modal information can evaluate the complexity of the human motion and/or the deformability of the contact environment. Content rate of the spatial modal information can evaluate the priority of motion element. Some experimental results on the bilateral motion control of a parallel five DOF haptic system are shown, in order to confirm the utility of the proposed indexes.
Ključne riječi
Discrete fourier series expansion; Haptics; Modal decomposition; Motion control
Hrčak ID:
100188
URI
Datum izdavanja:
4.4.2013.
Posjeta: 1.427 *