Advantages of Actuation Redundancy for the Design of Haptic Displays
2
P. Buttolo
B. Hannaford
Proceedings, ASME Fourth Annual Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, vol. DSC-57-2, pp. 623-630, San Francisco, Nov. 1995
1995 IEEE
http://brl.ee.washington.edu/BRL/publications/Rep098.pdf
In this paper we will describe a direct-drive, actuation redundant,
parallel manipulator, characterized by very low inertia, no backlash,
and almost zero friction. We will then describe the problems and
advantages of actuation redundancy and we will introduce a
computationally-efficient algorithm that maximizes the force
capability of the device. Actuation redundancy is different from
kinematic redundancy because it concerns only the determination of
forces and moments. A drawback of the parallel redundant structure is
the high computational requirement. On the other hand, the possibility
to choose the torque adopting a proper set of criteria permits
satisfaction of a desired set of requirements for haptic devices, such
as maximize the force output and achieve a homogenous force output in
the workspace.