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
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;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846393
