Dynamic simulation of virtual mechanisms with haptic feedback using industrial robotics equipment

This paper explores using industrial robotics equipment in a haptic (or kinesthetic) force display system conceived for mechanism design applications. The dynamics and kinematics of an aircraft flight control column/wheel are simulated as a human interacts directly with the end effector of a commonly available robotic manipulator. An admittance control paradigm is used for developing a haptic system wherein realistic simulation of the dynamic interaction forces between a human user and the simulated virtual object or mechanism is required. Experimental results are presented which demonstrate human user interaction with the virtual mechanism.