A new computational model of friction applied to haptic rendering
Identifieur interne : 008421 ( Main/Exploration ); précédent : 008420; suivant : 008422A new computational model of friction applied to haptic rendering
Auteurs : V. Hayward [Canada] ; B. Armstrong [États-Unis]Source :
- Lecture notes in control and information sciences [ 0170-8643 ] ; 1999.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique.
English descriptors
- KwdEn :
Abstract
A time-free, drift-free, multi-dimensional model of friction is introduced. A discrete implementation is developed which exhibits four solution regimes: sticking, creeping, oscillating, and sliding. Its computational solution is efficient to compute online and is robust to noise. It is applied to haptic rendering.
Affiliations:
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Le document en format XML
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