Title :
Large Workspace Haptic Devices - A New Actuation Approach
Author :
Zinn, Michael ; Khatib, Oussama ; Roth, Bernard ; Salisbury, J. Kenneth
Author_Institution :
Univ. of Wisconsin, Madison
Abstract :
Large workspace haptic devices have unique requirements, requiring increased power capabilities along with increased safety considerations. While there are numerous haptic devices available, large workspace systems are hampered by the limitations of current actuation technology. To address this, the Distributed Macro-Mini (DM2) actuation method has been applied to the design of a large workspace haptic device. In this paper, the DM2 method is described and we present experimental results which demonstrate its effectiveness. Finally, the control design is presented along with a discussion of the unique challenges associated with its robustness.
Keywords :
compliance control; control system synthesis; force control; haptic interfaces; safety; control design; distributed macro-mini actuation; haptic devices; large workspace system; power capability; robustness; safety consideration; Admittance; Bandwidth; Force control; Frequency; Friction; Haptic interfaces; Impedance; Mechanical engineering; Safety devices; Torque; Actuation; H.5.2 [Information Interfaces and Presentation]: Haptic I/O ¿ Design; compliance; design; haptics; macro-mini;
Conference_Titel :
Haptic interfaces for virtual environment and teleoperator systems, 2008. haptics 2008. symposium on
Conference_Location :
Reno, NE
Print_ISBN :
978-1-4244-2005-6
DOI :
10.1109/HAPTICS.2008.4479941