Singularity-Free Algorithms and Design Scheme for A New 6-DOF Parallel Haptic Device
- Title
- Singularity-Free Algorithms and Design Scheme for A New 6-DOF Parallel Haptic Device
- Author
- 이병주
- Keywords
- Haptic Device; Parallel Mechanism; Singularity; Redundant Actuation
- Issue Date
- 2002-05
- Publisher
- IEEE
- Citation
- Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292), v. 4, page. 4229-4235
- Abstract
- It is known that parallel-type mechanisms have more singularities than serial-type mechanisms. In haptic application, these singularities deteriorate the system performance generating reflecting force. Moreover, different from general manipulators, haptic systems can't avoid the singular point, because they are operated by user random 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 discussed. Furthermore, to overcome singularity problems, a new design including redundant actuation is proposed. The proposed mechanism has fairly large workspace and is relatively light by employing non-floating actuators.
- URI
- https://ieeexplore.ieee.org/document/1014419?arnumber=1014419&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/157096
- ISBN
- 0-7803-7272-7; 978-0-7803-7272-6
- DOI
- 10.1109/ROBOT.2002.1014419
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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