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
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;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936877
