Pen Based Force Display for Precision Manipulation of Virtual Environments
2
B. Hannaford
P. Buttolo
Proceedings VRAIS-95, pp. 217-224, Raleigh, NC, March 1995
1995 IEEE
http://brl.ee.washington.edu/BRL/publications/Rep089.pdf
In this paper we describe the structure of a force display recently
implemented for precision manipulation of scaled or virtual
environments. We discuss the advantages of direct-drive parallel
manipulators over geared serial manipulators for human-robot
interaction application and introduce the serial-parallel structure we
chose for our robot which interfaces with the human operator either at
the fingertip or at the tip of a freely held pen-like instrument. We
derive the statics and the dynamics, and then introduce the
optimization criteria that allowed us to choose the dimensional
parameters for the force display. Finally we show some of the
potential application for this device that will be the subject of
following papers.