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ICRA
2005
IEEE

Haptic Interaction With Constrained Dynamic Systems

10 years 3 months ago
Haptic Interaction With Constrained Dynamic Systems
—In this paper we are concerned with allowing the operator of a haptic display to interact with virtual systems having significant inertial dynamics and realistic constraints. We review the mathematical structure arising from the kinetic energy metric, required to create a virtual dynamics simulation consisting of rigid-body dynamics along with holonomic and/or nonholonomic motion constraints. We develop an admittance controller composed of feedforward and feedback terms, while preserving the integrity of the intended virtual dynamics simulation. This controller is implemented on the Cobotic Hand Controller, an admittancetype haptic display, and two examples are discussed.
Eric L. Faulring, Kevin M. Lynch, J. Edward Colgat
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Eric L. Faulring, Kevin M. Lynch, J. Edward Colgate, Michael A. Peshkin
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