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http://dx.doi.org/10.5302/J.ICROS.2002.8.12.1041

Design Scheme for a 6-DOF Parallel Haptic Device and Comparative Study on the Singularity-Free Algorithms  

김형욱 (한양대학교)
이재훈 (한양대학교)
이병주 (한양대학교)
서일홍 (한양대학교)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.8, no.12, 2002 , pp. 1041-1047 More about this Journal
Abstract
It is known that parallel-type mechanisms have many singularities than serial-type mechanisms. In haptic application, these singularities deteriorate the system performance when the haptic system displays the reflecting force. Moreover, different from general manipulators, haptic systems can't avoid the singular point because they are operated by user's random motion command. Although many singularity-free algorithms for serial mechanisms have been proposed and studied. singularity-free algorithms for parallel haptic application have not been deeply discussed. In this paper, various singularity-free algorithms, which are appropriate to parallel haptic system, will be discussedand evaluated.
Keywords
haptic device; parallel mechanism; singularity; redundant actuation;
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