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[098] Citation: P. Buttolo, B. Hannaford,
'Advantages of Actuation Redundancy for the Design of Haptic Displays,'
Proceedings, ASME Fourth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, vol. DSC-57-2, pp. 623-630, San Francisco, Nov. 1995.
Abstract
In this paper we will describe a direct-drive, actuation redundant,
parallel manipulator, characterized by very low inertia, no backlash,
and almost zero friction. We will then describe the problems and
advantages of actuation redundancy and we will introduce a
computationally-efficient algorithm that maximizes the force capability
of the device. Actuation redundancy is different from kinematic
redundancy because it concerns only the determination of forces and
moments. A drawback of the parallel redundant structure is the high
computational requirement. On the other hand, the possibility to choose
the torque adopting a proper set of criteria permits satisfaction of a
desired set of requirements for haptic devices, such as maximize the
force output and achieve a homogenous force output in the workspace.
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Updated: Tue Jul 15 23:54:50 2008
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