DocumentCode
3288335
Title
Obstacle avoidance methods for a passive haptic display
Author
Swanson, Davin K. ; Book, Wayne J.
Author_Institution
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Volume
2
fYear
2001
fDate
2001
Firstpage
1187
Abstract
An existing two degree-of-freedom passive haptic display is used to perform obstacle avoidance tasks. Two types of controllers are examined: one attempts to control the velocity direction of the display´s handle in order to guide the user around obstacles; while the other controller selectively and kinematically constrains the device to a single degree of freedom. The inherent passivity constraint of the haptic display imposes performance limitations on the two controllers
Keywords
collision avoidance; haptic interfaces; robot kinematics; velocity control; 2 DOF passive haptic display; kinematic constraint; obstacle avoidance; passive trajectory enhancement; passivity constraint; velocity control; Actuators; Displays; Force control; Force sensors; Friction; Haptic interfaces; Humans; Motion control; Robots; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location
Como
Print_ISBN
0-7803-6736-7
Type
conf
DOI
10.1109/AIM.2001.936877
Filename
936877
Link To Document