Control and performance evaluation of a new redundant haptic interface

Komoguchi, Y., Peer, A. and Buss, M. (2007) Control and performance evaluation of a new redundant haptic interface. In: SICE Annual Conference, Takamatsu, Japan, 17-20 September 2007., pp. 2671-2676 Available from:

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A new redundant haptic interface has been developed to overcome the disadvantages of most commercial devices: low force/torque capability, small workspace and limited degrees of freedom. In order to control the new device, two kinds of inverse kinematics will be investigated: an inverse function and a partitioned inverse kinematic solution. Moreover two different motion controllers will be presented: an independent joint controller and a computed torque scheme with acceleration feedforward. To evaluate the closed loop performance of the device the backdrivability and the Cartesian position tracking performance will be analyzed and the before mentioned controllers will be compared.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:haptic interface, redundant
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:23859
Deposited By: Professor A. Peer
Deposited On:24 Sep 2014 12:53
Last Modified:12 Apr 2016 13:07

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