Haptic Servo System

Abstract: A ”Haptic servo system” is here understood as a servo system whereforces from a controlled system are fed back to an operator. This thesis workis a design work where the work among other things comprises the choice ofsuitable motors, one for operating the beam and another one for operatingthe steering wheel. Data for the beam and ball are assumed to be known.Data for the feed back torque to the steering wheel is assumed to be specifiedin advance. Two models to represent the human response are suggested. Asimulation study is carried out to show that the system works according tosome specification. The ball and beam process is simulated with hardwarein the loop. The hardware in the loop is a Maxon motor. The motor is usedas the steering wheel and the motor will also propagate the torque feedbackto the operator.The task of the thesis work could then be formulated as: Can a human, withtorque feedback, manually control the ball on the beam without looking atthe ball and the beam?