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Abstract: Advantages of Actuation Redundancy for the Design of Haptic Displays
Advantages of Actuation Redundancy for the Design of Haptic Displays
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.
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Abstract:
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.
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