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Direct Control of a Passive Haptic Device Based on Passive Force Manipulability Ellipsoid Analysis  

Changhyun Cho (Dept. of Mechanical Eng. at Korea University and the Intelligent Robotics Research Center at KIST)
Kim, Munsang (Intelligent Robotics Research Center at KIS)
Song, Jae-Bok (Dept. of Mechanical Eng., at Korea University)
Publication Information
International Journal of Control, Automation, and Systems / v.2, no.2, 2004 , pp. 238-246 More about this Journal
Abstract
In displaying a virtual wall using a passive haptic device equipped with passive actuators such as electric brakes, unsmooth motion frequently occurs. This undesirable behavior is attributed to time delay due to slowness in the virtual environment update and force approximation due to the inability of a brake to generate torque in arbitrary directions. In this paper a new control scheme called direct control is proposed to achieve smooth display on the wall-following task with a passive haptic device. In direct control, brakes are controlled so that the normal component of a resultant force at the end-effector vanishes, based on the force analysis at the end-effector of the passive haptic device using the passive FME (Force Manipulability Ellipsoid). Various experiments have been conducted to verify the validity of the direct control scheme with a 2-link passive haptic system.
Keywords
FME; Force approximation; haptics; passive haptic devices; unsmooth motion;
Citations & Related Records

Times Cited By Web Of Science : 6  (Related Records In Web of Science)
Times Cited By SCOPUS : 7
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