1. Modeling and Simulation of a Hybrid Dynamic System Used in Haptic Interfaces
- Author
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J.-P. Louis, Flavia Khatounian, J. M. Alexandre, Sandrine Moreau, F. Louveau, Eric Monmasson, Systèmes et Applications des Technologies de l'Information et de l'Energie (SATIE), École normale supérieure - Cachan (ENS Cachan)-Université Paris-Sud - Paris 11 (UP11)-Institut Français des Sciences et Technologies des Transports, de l'Aménagement et des Réseaux (IFSTTAR)-École normale supérieure - Rennes (ENS Rennes)-Université de Cergy Pontoise (UCP), Université Paris-Seine-Université Paris-Seine-Conservatoire National des Arts et Métiers [CNAM] (CNAM)-Centre National de la Recherche Scientifique (CNRS), Laboratoire d'Automatique et d'Informatique Industrielle (LAII), Université de Poitiers, Haption S.A., and Haption
- Subjects
Structure (mathematical logic) ,0209 industrial biotechnology ,Numerical Analysis ,General Computer Science ,Computer science ,Applied Mathematics ,02 engineering and technology ,Virtual reality ,01 natural sciences ,Theoretical Computer Science ,Image (mathematics) ,Modeling and simulation ,020901 industrial engineering & automation ,Sampling (signal processing) ,Modeling and Simulation ,Hybrid system ,0103 physical sciences ,[INFO]Computer Science [cs] ,010301 acoustics ,Simulation ,Position sensor ,ComputingMilieux_MISCELLANEOUS ,Haptic technology - Abstract
A haptic system consists of an articulated mechanical structure with motors and position sensors, as well as embedded electronics allowing force feedback. It is driven by a haptic interface, which enables the user to interact with an image in a virtual reality application, through the sense of touch. Thus, it is a hybrid dynamic system, which contains subsystems with continuous dynamics and subsystems with discrete dynamics that interact with each other. This paper develops a hybrid dynamic system model of the system, which takes into account the different sampling periods of the desired regulation, and the interaction between continuous, switching and discrete subsystems. It is interesting when very short electrical transients coexist with very long mechanical ones.
- Published
- 2006
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