A high performance 6-DOF haptic Cobot
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference(2004)
摘要
A novel, six-degree-of-freedom active haptic device is introduced. A parallel kinematic design and the use of non- holonomic continuously variable transmissions provide extremely high stiffness in directions that would violate a virtual constraint. At the same time, smooth motion is permitted tangential to virtual constraints and in open space. High quality constraint surfaces having one to five dimensions can be displayed. A notable feature of this device is the mutual coupling of all six linear actuators to a common rotating cylinder, which can, optionally, be powered. The resulting mechanism is simple to control, and allows several new control strategies in Cobotic haptics.
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关键词
actuators,control system CAD,haptic interfaces,manipulator kinematics,telerobotics,virtual reality,6DOF haptic cobot,Cobotic haptics,control system CAD,high quality constraint surfaces,linear actuators,nonholonomic constraints,parallel kinematic design,six degree of freedom active haptic device,stiffness,virtual constraint
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