Title :
Torque feedback control of dry friction clutches for a dissipative passive haptic interface
Author :
Swanson, Davin K. ; Book, Wayne J.
Author_Institution :
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
The control of a passive dissipative haptic interface using electromagnetic dry friction clutches as actuators is considered. The performance of the device is currently limited by the actuator performance. A dynamic simulation of the system indicates that the actuator torque may be better controlled with torque feedback, resulting in improved path-following performance of the haptic interface. Experimental tests are presented which illustrate the validity of the simulation and feasibility of implementing torque feedback control on the system clutches
Keywords :
clutches; electric actuators; force feedback; friction; haptic interfaces; torque control; dry friction clutches; dynamic simulation; electromagnetic actuators; feedback; haptic interface; torque control; Actuators; Computational modeling; Feedback control; Force control; Friction; Haptic interfaces; Humans; Safety; Testing; Torque control;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897525
