Haptic Rendering of Actuated Mechanisms by Active Admittance Control

Abstract. Virtual Prototyping with haptic feedback offers great benefits in the development process of actuated systems. We present a generic control scheme for the haptic rendering of actuated mechanisms, introducing the active admittance. It extends the conventional admittance control by modeling the actuation and the movable parts of the mechanism separately. This allows for an efficient iterative design and evaluation of an actuated mechanism and its single elements. The practicability of active admittance control is demonstrated by haptically rendering a car door with two actuated degrees-of-freedom. Key words: virtual prototyping, haptic rendering, admittance control, active admittance, sensors, actuators, mechanism, stability

• Type: Conference
• Year: 2008
• Where: HAPTICS
• Authors: Michael Strolz, Martin Buss
• Keywords: Active Admittance, Admittance Control, Haptic Rendering, HAPTICS 2008, Virtual Reality