Influence of actuator dynamics on passive haptic interface performance

A dynamic simulation of a passive haptic interface is enhanced by the addition of an actuator model. The actuator of this haptic display (robot) is a controlled friction device. The robot utilizes four friction clutches as passive actuators. Stick-slip effects within the clutches and dynamic response are critical characteristics that are modeled. Experiments presented justify the model. The simulation is then used to evaluate possible system modifications with the goal of improving the path-following performance of the robot. An actuator modification is studied, as well as the addition of torque feedback to the system controller