PERFORMANCE MEASUREMENTS FOR ROBOTIC ACTUATORS

ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)

Volumn 1996-O, Issue , 1996, Pages 531-537

  Morrell, John B ^a   Salisbury, J Kenneth ^a  

^a Massachusetts Institute of Technology Cambridge   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ROBOTICS; SPECIFICATIONS;

BACKDRIVABILITY; DYNAMIC FORCES; DYNAMIC RANGE; FORCE DYNAMICS; FORCE FIDELITY; PERFORMANCE MEASUREMENTS; PERFORMANCE METRICES; QUANTITATIVE METHOD; ROBOTIC ACTUATORS; ROBOTICS RESEARCH;

ACTUATORS;

EID: 49749147987     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/IMECE1996-0379     Document Type: Conference Paper

References (6)

1. An, C. H. (1986). Trajectory and Force Control of A Direct Drive Arm. PhD thesis, MIT, Department of Electrical Engineering and Computer Science.
2. Hayward, V. and Astley, O. R. (1995). Performance measures for haptic interfaces. In Proceedings of the 7th International Symposium on Robotics Research, Munich, Germany. Springer-Verlag.
3. Morrell, J. B. (1996). Parallel Coupled Micro-Macro Actuators. PhD thesis, MIT, Department of Mechanical Engineering.
4. Morrell, J. B. and Salisbury, J. K. (1995). In pursuit of dynamic range: Using parallel coupled actuators to overcome hardware limitations. In Experimental Robotics IV, Fourth International Symposium.
5. Rosenberg, L. B. and Adelstein, B. D. (1993). Perceptual decomposition of virtual haptic surfaces. In Proceedings IEEE Symposium on Research Frontiers in Virtual Reality.
6. Tan, H. Z., Srinivasan, M. A., Eberman, B., and Cheng, B. (1994). Human factors for the design of force-reflecting haptic interfaces. In ASME Winter Annual Meeting.