Title :
A novel approach to determine the end-point stiffness of haptic master
Author :
Ma, Fengtao ; Zhao, Chen ; Zhang, Qingbo
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ., Tianjin, China
Abstract :
The end-point stiffness of haptic interface can significantly affect its performances such as the transparency and pose accuracy. As it is related to the joint flexibility, link compliance, control stiffness and the configuration, it is quite difficult to obtain its values. In this paper, a novel approach is presented. Based on the CAD model of the haptic master the end-point stiffness can be calculated properly.
Keywords :
CAD; control engineering computing; haptic interfaces; robots; CAD model; end point stiffness; haptic master; joint flexibility; robots; Force; Haptic interfaces; Jacobian matrices; Joints; Phantoms; Service robots; analysis; haptics; stiffness; surgical robot;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2011 International Conference on
Conference_Location :
Yichang
Print_ISBN :
978-1-4244-8162-0
DOI :
10.1109/ICECENG.2011.6057465
