Implementación de una interfaz háptica en Unreal Engine y la estimación de velocidades para reducir vibraciones

Erick Manuel López-Ortiz; Antonio Maximiliano Hernández Salazar; Irandi Gutierrez-Carmona; Juan Gabino Díaz-Martínez

doi:10.46842/10.46842/ipn.cien.v27n2a08

Authors

Erick Manuel López-Ortiz Instituto Tecnologico y de Estudios Superiores de Monterrey Author https://orcid.org/0000-0002-3297-0381
Antonio Maximiliano Hernández Salazar Instituto Tecnologico y de Estudios Superiores de Monterrey Author https://orcid.org/0009-0001-9037-019X
Irandi Gutierrez-Carmona Instituto Tecnologico y de Estudios Superiores de Monterrey Author https://orcid.org/0000-0002-0869-7418
Juan Gabino Díaz-Martínez Instituto Tecnologico y de Estudios Superiores de Monterrey Author https://orcid.org/0009-0007-8693-0784

DOI:

https://doi.org/10.46842/10.46842/ipn.cien.v27n2a08

Keywords:

haptic interface, derivators, sampling times, Unreal Engine, experimental platform

Abstract

This work addresses the implementation of a haptic interface in Unreal Engine in conjunction with a one-degree-of-freedom robot. Unreal Engine is a powerful free rendering and simulation engine in which a digital twin was developed capable of interacting with a physical platform through bidirectional communication of position and torque for trajectory tracking and force reflection. Different experiments were conducted to validate the technological integration under different operating conditions. The result was a low-cost platform with an acceptable haptic feel and a digital environment to visualize, analyze, and understand digital twin technology and the challenges faced. Several different methods were also tested to figure out how fast and significantly to lower the system's vibrations caused by communication delays, which are bad for the accuracy and quality of the robotic interaction.

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