• DocumentCode
    1981977
  • 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
  • fYear
    2011
  • fDate
    16-18 Sept. 2011
  • Firstpage
    4291
  • Lastpage
    4295
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Electrical and Control Engineering (ICECE), 2011 International Conference on
  • Conference_Location
    Yichang
  • Print_ISBN
    978-1-4244-8162-0
  • Type

    conf

  • DOI
    10.1109/ICECENG.2011.6057465
  • Filename
    6057465
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1981977