Haptic rendering of planar rigid-body motion using a redundant parallel mechanism

TitleHaptic rendering of planar rigid-body motion using a redundant parallel mechanism
Publication TypeConference Paper
Year of Publication2000
AuthorsConstantinescu, D., I. Chau, S. P. DiMaio, L. Filipozzi, S. E. Salcudean, and F. Ghassemi
Conference NameRobotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Pagination2440 -2445 vol.3
Keywordscontrol architecture, friction, friction models, haptic interfaces, haptic rendering, passive virtual environment simulation, planar rigid-body motion, redundancy, redundant parallel mechanism, reset-integrator dry friction model, telerobotics, virtual reality, virtual walls

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


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