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Control and performance of the rotational-to-linear cobotic transmission. Accepted to (2006)
| Content Provider | CiteSeerX |
|---|---|
| Author | Faulring, Eric L. Edward, J. Michael, Colgate Peshkin, A. |
| Description | IEEE 14th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems We examine the motion control bandwidth and stable impedance range of the Cobotic Hand Controller, a novel, six-degree-of-freedom, admittance controlled haptic display. A highly geared admittance architecture is often used to render high impedances with reasonable sized actuators for a haptic display. The Cobotic Hand Controller is perhaps the ultimate realization of an admit-tance display, since it is capable of obtaining an infinite gear ratio and can render infinite impedances (up to its own structural stiff-ness). The incorporation of continuously variable transmissions in the Cobotic Hand Controller provides for an extremely wide, sta-ble z-width, since the transmission ratio can be adjusted quickly to vary the backdrivability. However, finite preloads in the transmis-sions limit the display’s acceleration capabilities. We examine the control challenges and performance characteristics of the Cobotic Hand Controller for free motion and unilateral impact virtual envi-ronment scenarios. |
| File Format | |
| Language | English |
| Publisher Date | 2006-01-01 |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
