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Haptic display of constrained dynamic systems via admittance displays

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Haptic display of constrained dynamic systems via admittance displays

Auteurs : Eric L. Faulring [États-Unis] ; Kevin M. Lynch [États-Unis] ; J. Edward Colgate [États-Unis] ; Michael A. Peshkin [États-Unis]

Source :

IEEE transactions on robotics [ 1552-3098 ] ; 2007.

RBID : Pascal:07-0219729

Descripteurs français

Pascal (Inist)
- Système dynamique, Commande force, Programme commande, Système non holonome, Interface utilisateur, Main, Impédance mécanique, Sensibilité tactile, Corps rigide, Mécanisme articulé, Admittance, Force réaction.

English descriptors

KwdEn :
- Admittance, Control program, Dynamical system, Force control, Hand, Linkage mechanism, Mechanical impedance, Non holonomic system, Reaction force, Rigid bodies, Tactile sensitivity, User interface.

Abstract

In the Cobotic Hand Controller, we have introduced an admittance display that can render very high impedances (up to its own structural stiffness). This is due to its use of infinitely variable transmissions. While admittance displays typically excel at rendering high impedances, the incorporation of infinitely variable transmissions in the Cobotic Hand Controller allows the stable display of a wide dynamic range, including low impedances. The existence of a display that excels at rendering high-impedance constraints, but has high-fidelity control of low impedances tangent to those constraints, has led us to describe an admittance control architecture not often examined in the haptics community. In this paper, we develop a comprehensive approach that enables rendering of rigid motion constraints while simultaneously preserving the physical integrity of the intended inertial dynamics tangent to those constraints. This is in contrast to conventional impedance-control algorithms that focus primarily on rendering reaction forces along contact normals with constraints. We present this algorithm here, which is general to all admittance displays, and report on its implementation with the Cobotic Hand Controller. We offer examples of rigid bodies and linkages subject to holonomic and/or nonholonomic constraints.

Affiliations:

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Le document en format XML

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<front><div type="abstract" xml:lang="en">In the Cobotic Hand Controller, we have introduced an admittance display that can render very high impedances (up to its own structural stiffness). This is due to its use of infinitely variable transmissions. While admittance displays typically excel at rendering high impedances, the incorporation of infinitely variable transmissions in the Cobotic Hand Controller allows the stable display of a wide dynamic range, including low impedances. The existence of a display that excels at rendering high-impedance constraints, but has high-fidelity control of low impedances tangent to those constraints, has led us to describe an admittance control architecture not often examined in the haptics community. In this paper, we develop a comprehensive approach that enables rendering of rigid motion constraints while simultaneously preserving the physical integrity of the intended inertial dynamics tangent to those constraints. This is in contrast to conventional impedance-control algorithms that focus primarily on rendering reaction forces along contact normals with constraints. We present this algorithm here, which is general to all admittance displays, and report on its implementation with the Cobotic Hand Controller. We offer examples of rigid bodies and linkages subject to holonomic and/or nonholonomic constraints.</div>
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Haptic display of constrained dynamic systems via admittance displays

Haptic display of constrained dynamic systems via admittance displays

Source :

Descripteurs français

English descriptors

Abstract

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

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

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