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HAPTICS
2008
IEEE

Haptic Rendering of Actuated Mechanisms by Active Admittance Control

8 years 8 months ago
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
Michael Strolz, Martin Buss
Added 29 May 2010
Updated 29 May 2010
Type Conference
Year 2008
Where HAPTICS
Authors Michael Strolz, Martin Buss
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