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.

• Type: Conference
• Year: 2005
• Where: ICRA
• Authors: Eric L. Faulring, Kevin M. Lynch, J. Edward Colgate, Michael A. Peshkin
• Keywords: Haptic Display, ICRA 2005, Robotics, Significant Inertial Dynamics, Virtual Dynamics Simulation