DocumentCode
2721111
Title
Experimental haptic device with force control
Author
Wen, K. ; Necsulescu, D. ; Sasiadek, J.Z.
Author_Institution
Dept. of Mech. Eng., Ottawa Univ., Ont., Canada
fYear
2005
fDate
23-25 June 2005
Firstpage
33
Lastpage
38
Abstract
The force control is important part of robot control systems. There are two main methods of force control: impedance and admittance control. This paper presents an experimental set-up for impedance method verification. The impedance control is based on the assumption that the operator motion input is measured, and subsequently, the reaction force is fed back to the operator. Several experiments were performed to verify the suitability of impedance method in practice and its applicability in a haptic device.
Keywords
electric admittance; electric impedance; force control; force feedback; haptic interfaces; robots; admittance control; force control; haptic device; impedance control; impedance method verification; operator motion input measurement; reaction force; robot control systems; Admittance; Force control; Force measurement; Haptic interfaces; Humans; Impedance measurement; Motion control; Robot control; Torque control; Virtual environment;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on
Print_ISBN
83-7143-266-6
Type
conf
DOI
10.1109/ROMOCO.2005.201397
Filename
1554376
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