Singularity-free Load Distribution Algorithms for a 6 DOF Parallel Haptic Device
- Title
- Singularity-free Load Distribution Algorithms for a 6 DOF Parallel Haptic Device
- Author
- 이병주
- Keywords
- Haptic interfaces; Optical reflection; Displays; Bandwidth; Kinematics; Actuators; Torque; Algorithm design and analysis; Testing; Master-slave
- Issue Date
- 2004-04
- Publisher
- IEEE
- Citation
- Proceedings - IEEE International Conference on Robotics and Automation, Page. 298-304
- Abstract
- It is known that parallel type mechanisms have many singularities than serial type mechanisms. In haptic application, these singularities deteriorate the force reflecting performance. Moreover, different from general manipulators, haptic systems can`t avoid the singular point, because they are operated by the user`s random motion command. Although many singularity.free load distribution algorithms for kinematically redundant manipulators have been proposed, singularity-free load distribution algorithms for parallel haptic application have not been deeply discussed. In this paper, various singularity.free load distribution algorithms that are appropriate to parallel haptic system will be discussed. A new 6 DOF parallel mechanism equipped with four sub.chains is employed as a test device. To cope with singularity problem, four task.priority algorithms and redundant actuation algorithm are discussed and compared through simulation, and also experiments have been performed to show the effectiveness of those algorithms at the presence of singularity.
- URI
- https://ieeexplore.ieee.org/document/1307167?arnumber=1307167&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/139297
- ISBN
- 0-7803-8232-3
- ISSN
- 1050-4729
- DOI
- 10.1109/ROBOT.2004.1307167
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML