Haptic Rendering of Planar Rigid-Body Motion using a Redundant Parallel Mechanism

We present a system for rendering planar rigid-body motion by means of a redundant parallel mechanism. The device design, the control architecture and the passive virtual environment simulation are presented. The system is used to compare various virtual walls and friction models proposed for haptic applications. In addition, the reset-integrator dry friction model proposed by Haessig and Friedland [8] is implemented in a haptic interface for the first time.

• Type: Conference
• Year: 2000
• Where: ICRA
• Authors: Daniela Constantinescu, Icarus Chau, Simon P. DiMaio, Luca Filipozzi, S. E. Salcudean, Farhad Ghassemi
• Keywords: Friction Model, ICRA 2000, Planar Rigid-body Motion, Redundant Parallel Mechanism, Robotics