Sciweavers

Share
HAPTICS
2006
IEEE

Control and Performance of the Rotational-to-Linear Cobotic Transmission

10 years 3 months ago
Control and Performance of the Rotational-to-Linear Cobotic Transmission
We examine the motion control bandwidth and stable impedance range of the Cobotic Hand Controller, a novel, six-degree-offreedom, 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 admittance display, since it is capable of obtaining an infinite gear ratio and can render infinite impedances (up to its own structural stiffness). The incorporation of continuously variable transmissions in the Cobotic Hand Controller provides for an extremely wide, stable z-width, since the transmission ratio can be adjusted quickly to vary the backdrivability. However, finite preloads in the transmissions 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 environment scenari...
Eric L. Faulring, J. Edward Colgate, Michael A. Pe
Added 11 Jun 2010
Updated 11 Jun 2010
Type Conference
Year 2006
Where HAPTICS
Authors Eric L. Faulring, J. Edward Colgate, Michael A. Peshkin
Comments (0)
books