HapticV1, Main, Exploration, bibRecord, 006B29

Singularity-free load distribution algorithms for a 6 DOF parallel haptic device

Identifieur interne : 006B29 ( Main/Exploration ); précédent : 006B28; suivant : 006B30

Singularity-free load distribution algorithms for a 6 DOF parallel haptic device

Auteurs : HYUNG WOOK KIM [Corée du Sud] ; JAE HOON LEE [Corée du Sud] ; Byung-Ju Yi [Corée du Sud] ; IL HONG SUH [Corée du Sud]

Source :

RBID : Pascal:06-0269745

Descripteurs français

Pascal (Inist)
- Distribution charge, Sensibilité tactile, Mécanisme articulé, Mécanisme parallèle, Manipulateur, Mouvement aléatoire, Redondance, Singularité, Point singulier, Algorithme parallèle.

English descriptors

KwdEn :
- Linkage mechanism, Load distribution, Manipulator, Parallel algorithm, Parallel mechanism, Random motion, Redundancy, Singular point, Singularity, Tactile sensitivity.

Abstract

It is known that parallel type mechanisms have many singularities than serial type mechanisms. In haptic application, these singularities deteriorate the force reflecting performance. Moreover, different from general manipulators, haptic systems can't avoid the singular point, because they are operated by the user's random motion command. Although many singularity-free load distribution algorithms for kinematically redundant manipulators have been proposed, singularity-free load distribution algorithms for parallel haptic application have not been deeply discussed. In this paper, various singularity-free load distribution algorithms that are appropriate to parallel haptic system will be discussed. A new 6 DOF parallel mechanism equipped with four sub-chains is employed as a test device. To cope with singularity problem, four task-priority algorithms and redundant actuation algorithm are discussed and compared through simulation, and also experiments have been performed to show the effectiveness of those algorithms at the presence of singularity.

Affiliations:

Corée du Sud

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to stream PascalFrancis, to step Corpus: 000D50
to stream PascalFrancis, to step Curation: 000756
to stream PascalFrancis, to step Checkpoint: 000C16
to stream Main, to step Merge: 006F38
to stream Main, to step Curation: 006B29

Le document en format XML

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<front><div type="abstract" xml:lang="en">It is known that parallel type mechanisms have many singularities than serial type mechanisms. In haptic application, these singularities deteriorate the force reflecting performance. Moreover, different from general manipulators, haptic systems can't avoid the singular point, because they are operated by the user's random motion command. Although many singularity-free load distribution algorithms for kinematically redundant manipulators have been proposed, singularity-free load distribution algorithms for parallel haptic application have not been deeply discussed. In this paper, various singularity-free load distribution algorithms that are appropriate to parallel haptic system will be discussed. A new 6 DOF parallel mechanism equipped with four sub-chains is employed as a test device. To cope with singularity problem, four task-priority algorithms and redundant actuation algorithm are discussed and compared through simulation, and also experiments have been performed to show the effectiveness of those algorithms at the presence of singularity.</div>
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Singularity-free load distribution algorithms for a 6 DOF parallel haptic device

Singularity-free load distribution algorithms for a 6 DOF parallel haptic device

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri