Guaranteed convergence rates for five degree of freedom in-parallel haptic interface kinematics

Author

Lee, Christopher D. ; Lawrence, Dale A. ; Pao, Lucy Y.

Author_Institution

Dept. of Electr. Eng., Colorado Univ., Boulder, CO, USA

Volume

4

fYear

1999

fDate

1999

Firstpage

3267

Abstract

Numerical computation of forward kinematics for an in-parallel interface are developed which conform to the needs of real-time haptic rendering. This approach produces a computationally fast algorithm for computing Cartesian position and orientation from actuator position measurements. Explicit bounds on the convergence rates are derived which can be used to design appropriate computational strategies to maximize control loop cycle times, yet preserve acceptable accuracy

Keywords

Jacobian matrices; convergence; haptic interfaces; kinematics; position measurement; rendering (computer graphics); Cartesian orientation; Cartesian position; accuracy; control loop cycle times; five degree of freedom in-parallel haptic interface; forward kinematics; guaranteed convergence rates; real-time haptic rendering; Actuators; Aerospace engineering; Computer interfaces; Concurrent computing; Convergence; Haptic interfaces; Kinematics; Length measurement; Position measurement; Rendering (computer graphics);

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.774096

Filename

774096