Haptic direct-drive robot control scheme in virtual reality

Ming Guo Her, Kuei Shu Hsu, Tian Syung Lan, Mansour Karkoub

Research output: Contribution to journalArticle

8 Citations (Scopus)


This paper explores the use of a 2-D (Direct-Drive Arm) manipulator for mechanism design applications based on virtual reality (VR). This article reviews the system include a user interface, a simulator, and a robot control scheme. The user interface is a combination of a virtual clay environment and human arm dynamics via robot effector handler. The model of the VR system is built based on a haptic interface device behavior that enables the operator to feel the actual force feedback from the virtual environment just as s/he would from the real environment. A primary stabilizing controller is used to develop a haptic interface device where realistic simulations of the dynamic interaction forces between a human operator and the simulated virtual object/mechanism are required. The stability and performance of the system are studied and analyzed based on the Nyquist stability criterion. Experiments on cutting virtual clay are used to validate the theoretical developments. It was shown that the experimental and theoretical results are in good agreement and that the designed controller is robust to constrained/unconstrained environment.

Original languageEnglish
Pages (from-to)247-264
Number of pages18
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number3
Publication statusPublished - Nov 2002
Externally publishedYes



  • Direct-drive arm
  • Haptic device
  • Virtual reality

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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