Motion control of impedance-type haptic devices

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2009, Pages 1092-1097

  Wilson, Robert ^a   Niemeyer, Günter ^a  

^a Stanford University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ANALOG CIRCUITRY; CURRENT DRIVES; DIGITAL DOMAIN; FREE SPACE; HAPTIC COUPLING; HAPTIC DEVICES; HAPTICS; LEVEL CONTROLLERS; LOW COSTS; MOTOR DRIVE; MOTOR DRIVER; QUASI-STATIC; RIGID CONTACTS; SYSTEM ANALYSIS; VIRTUAL ENVIRONMENTS;

ELECTRIC DRIVES; MOTION CONTROL; MOTION PLANNING; MOTORS; ROBOTICS; VIRTUAL REALITY;

DIGITAL DEVICES;

EID: 70350747759     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2009.5152839     Document Type: Conference Paper

References (13)

1. J. Abbott and A. Okamura, "Effects of position quantization and sampling rate on virtual-wall passivity," IEEE Transactions on Robotics, vol. 21, no. 5, pp. 952-964, Oct. 2005.
2. M. Mahvash and V. Hayward, "High-fidelity passive force-reflecting virtual environments," IEEE Transactions on Robotics, vol. 21, no. 1, pp. 38-46, Feb. 2005.
3. J. E. Colgate and G. Schenkel, "Passivity of a class of sampled-data systems: Application to haptic interfaces," in Proceedings, American Control Conferences, Baltimore, Maryland, vol. 3, June/July 1994, pp. 3236-3240.
4. N. Diolaiti, G. Niemeyer, F. Barbagli, and J. Salisbury, J.K., "Stability of haptic rendering: Discretization, quantization, time delay, and coulomb effects," IEEE Transactions on Robotics, vol. 22, no. 2, pp. 256-268, April 2006.
5. N. Diolaiti, G. Niemeyer, and N. A. Tanner, "Wave Haptics: Building Stiff Controllers from the Natural Motor Dynamics," The International Journal of Robotics Research, vol. 26, no. 1, pp. 5-21, 2007.
6. R. Wilson and G. Niemeyer, "Exploiting inate motor dynamics for high stiffness haptic display on brushless dc motors," in Proceedings of the ASME Dynamic Systems and Controls Conference, Ann Arbor, Michigan, oct 2008.
7. Copley Controls Corp., "Models 412CE, 413CE, 421CE, 422CE, DC Brush Servo Amplifiers," 412CE Datasheet, nd.
8. R. Gorez and J. O'shea, "Robots positioning control revisited," Journal of Intelligent and Robotic Systems, vol. 3, no. 3, pp. 213-231, Sept 1990.
9. J. Colgate, M. Stanley, and J. Brown, "Issues in the haptic display of tool use," International Conference on Intelligent Robots and Systems, vol. 03, p. 3140, 1995.
10. C. Zilles and J. Salisbury, "A constraint-based god-object method for haptic display," International Conference on Intelligent Robots and Systems, vol. 03, p. 3146, 1995.
11. P. Mitra and G. Niemeyer, "Haptic simulation of manipulator collisions using dynamic proxies," Presence: Teleoperators and Virtual Environments, vol. 16, no. 4, pp. 367-384, 2007. [Online]. Available: http://www.mitpressjournals.org/doi/abs/10.1162/pres.16.4.367
12. K. Shimoga, "A survey of perceptual feedback issues in dexterous telemanipulation. ii. finger touch feedback," Virtual Reality Annual nternational Symposium, 1993., 1993 IEEE, pp. 271-279, Sep 1993.
13. D. Lawrence, L. Pao, A. Dougherty, M. Salada, and Y. Pavlou, "Ratehardness: a new performance metric for haptic interfaces," IEEE ransactions on Robotics and Automation, vol. 16, no. 4, pp. 357-371, Aug 2000.