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Abstract: Nonholonomic Haptic Display
Nonholonomic Haptic Display
J. Edward Colgate
Michael A. Peshkin
Witaya Wannasuphoprasit
Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, MN, Vol. 1, pp. 539-544
© 1996 IEEE.
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Abstract:
Conventional approaches to haptic interface rely on high gain servos
to implement virtual constraints. The role of the servo is to reduce
the apparent degrees of freedom in such a way as to effectively
constrain a human operator's motion. A significant drawback of this
approach, however, is that the operator must interact directly with a
high power system that is not inherently passive, and which may become
unstable. In this paper, we present a novel approach to haptic
display which allows virtual constraints to be implemented in a manner
that is completely passive and therefore intrinsically safe. The key
idea is to begin with a device having zero or one degree of freedom,
and to use feedback control to increase the apparent degrees of
freedom as necessary. This becomes possible with the use of
nonholonomic joints, which have fewer degrees of freedom than
generalized coordinates. The design and feedback control of several
"programmable constraint machines" (PCMs) of this type are discussed.
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