Affiliations: Research Center on Information and Systems Technologies – CITIS, Universidad Autonoma del Estado de Hidalgo, Carretera Pachuca-Tulancingo km 4.5, Pachuca, Hidalgo 42000, Mexico | Robotics and Advanced Manufacturing Division – CINVESTAV Saltillo, Carretera Saltillo – Monterrey km 13.5, Ramos Arizpe, Coahuila 25900, Mexico
Note:  Corresponding Author: O. A. Domínguez-Ramírez, Instituto de Ciencias Basicas e Ingenieria, Universidad Autónoma del Estado de Hidalgo, Carretera Pachuca-Tulancingo km 4.5, Pachuca, Hidalgo 42000, Mexico. Tel: +52-771-717-2000; Fax: +52-771-717-2000; Email: [email protected]; [email protected]
Abstract: Perception and interaction with virtual surfaces, through kinaesthetic sensation and visual stimuli, is the basic issue of a haptic interface. When the virtual or real object is in a remote location, and guidance is required to perceive kinaesthetic feedback, a haptic guidance scheme is required. In this document, with purpose of haptic-guided exploration, a new scheme for simultaneous control of force and cartesian position is proposed without using inverse kinematics, and without using the dynamic model of PHANToM, though a strict stability analysis includes the dynamic model of PHANToM. We rely on our previously proposed results to propose a new haptic cartesian controller to reduce the burden of computing cartesian forces in PHANToM. Furthermore, a time base generator for finite-time tracking is also proposed to achieve very fast tracking and high precision, which translated into high fidelity kinaesthetic feedback.
Keywords: Haptic guidance, kinaesthetic feedback, haptic device, time base generator, Cartesian control, force-position tracking