Steuerungs- und Regelungsstrategien zur haptischen Simulation und Synthese von Getrieben

  • Open and closed loop control strategies for the haptic simulation and synthesis of linkages

Paris, Jascha Norman; Corves, Burkhard (Thesis advisor); Kecskeméthy, Andrés (Thesis advisor)

Aachen (2020)
Dissertation / PhD Thesis

Dissertation, Rheinisch-Westfälische Technische Hochschule Aachen, 2020


In the development of products with which users interact, the focus is placed not only on the technical function but also on ergonomics, interaction and experience design. As users get into physical contact with dynamic systems such as mechanisms and linkages, the user`s experience is significantly determined by the kinematics and dynamics of the product. In order to support the design and development of mechanisms, it is desirable to enable the application of virtual prototyping using haptic feedback systems (HFS). However, the design and implementation of the control system of an HFS is demanding due to the coupling with the user and the simulation of the virtual prototype. In particular, the need for an accurate haptic representation and the limitations of the applied industrial drive technology pose challenges. In this contribution, control strategies are derived and comprehensively discussed for the haptic simulation of linkages. Firstly, HFS are classified against the background of the present application. Subsequently, the modeling of virtual prototypes and the utilized HFS RePlaLink is described. In addition, models of humans are identified so that an overall model of the system can be implemented. With the presented methods parameter changes and modifications of the virtual prototype can be executed quickly and easily during simulation. This thesis presents a control architecture for HFS for the haptic simulation of linkages and assesses the closed-loop control of the drive system as well as the overall system. Different architectures and methods, such as virtual couplings or passivity observers, are adapted or further improved for the present task and compared with respect to their stability and representation quality. The influence of the simulation of the virtual prototype on the controller is further discussed. Finally, the application of the overall system in the development process of mechanisms is discussed. Moreover, the use of haptic interfaces is extended and the haptic-interactive mechanism synthesis is introduced and developed. Thereby the user can modify the virtual prototype just by applying forces during usage and independent of his knowledge of mechanism theory.


  • Chair and Institute of Mechanism Theory, Machine Dynamics and Robotics [411910]