Advantages of Actuation Redundancy for the Design of Haptic Displays

Buttolo, P. and Hannaford, B. (1995) Advantages of Actuation Redundancy for the Design of Haptic Displays. In: Proceedings, ASME Fourth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.

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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.

Item Type: Conference or Workshop Item (Paper)
Subjects: B Teleoperation > BA Haptics for Teleoperation
D Haptics
Divisions: Department of Electrical Engineering
Depositing User: Danying Hu
Date Deposited: 07 Jul 2015 21:28
Last Modified: 07 Jul 2015 21:28

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