DocumentCode
2058003
Title
Haptic rendering of planar rigid-body motion using a redundant parallel mechanism
Author
Constantinescu, D. ; Chau, I. ; DiMaio, S.P. ; Filipozzi, L. ; Salcudean, S.E. ; Ghassemi, F.
Author_Institution
Dept. of Electr. & Comput. Eng., British Columbia Univ., Vancouver, BC, Canada
Volume
3
fYear
2000
fDate
2000
Firstpage
2440
Abstract
We present a system for rendering planar rigid-body motion by means of a redundant parallel mechanism. The device design, the control architecture and the passive virtual environment simulation are presented. The system is used to compare various virtual walls and friction models proposed for haptic applications. In addition, the reset-integrator dry friction model proposed by Haessig and Friedland (1991) is implemented in a haptic interface for the first time
Keywords
friction; haptic interfaces; redundancy; telerobotics; virtual reality; control architecture; friction models; haptic rendering; passive virtual environment simulation; planar rigid-body motion; redundant parallel mechanism; reset-integrator dry friction model; virtual walls; Acceleration; Computational modeling; Couplings; Design automation; Displays; Feedback; Force control; Friction; Haptic interfaces; Virtual environment;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846393
Filename
846393
Link To Document