DocumentCode
2424645
Title
Gravity compensation algorithms for parallel haptic interface
Author
Checcacci, D. ; Sotgiu, E. ; Frisoli, A. ; Avizzano, C.A. ; Bergamasco, M.
Author_Institution
Simultaneous Presence, Telepresence & Virtual Presence, Scuola Superiore Sant´´Anna, Pisa, Italy
fYear
2002
fDate
2002
Firstpage
140
Lastpage
145
Abstract
This paper presents an experimental comparison of different algorithms for the gravity compensation of parallel mechanisms, with special reference to a 5DOF haptic interface that has been realized at PERCRO. Two methods for the static balancing of this mechanism have been investigated: a classical method, based on Lagrange´s approach and an algorithm that adopts the screw theory. This last method allows solving the problem in a more intuitive way. Some experimental results are reported in order to confirm this approach.
Keywords
compensation; haptic interfaces; telerobotics; 5-DOF haptic interface; Lagrange approach; gravity compensation algorithms; parallel haptic interface; screw theory; static balancing; Couplings; DC motors; Equations; Force feedback; Friction; Gravity; Haptic interfaces; Kinematics; Lagrangian functions; Manipulator dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on
Print_ISBN
0-7803-7545-9
Type
conf
DOI
10.1109/ROMAN.2002.1045612
Filename
1045612
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