In this work the steps made to date for the development of a 4 DOF redundant haptic interface are shown, with particular attention to the control system. After a brief presentation of the main characteristics of the device, of the kinematic structure of the mechanism and of the different methods used for the resolution of the inverse kinematics, the control problem is shown, together with experimental results obtained from several simulations. For simplicity reasons, all the simulations were done considering the device as a parallel kinematic manipulator.

(2014). Control system design of A 4-DOF redundant haptic interface [conference presentation - intervento a convegno]. Retrieved from http://hdl.handle.net/10446/31983

Control system design of A 4-DOF redundant haptic interface

RIGHETTINI, Paolo;STRADA, Roberto;GINAMMI, Andrea;FENILI, Luca;TEOLDI, Cristian;LORENZI, Vittorio
2014-01-01

Abstract

In this work the steps made to date for the development of a 4 DOF redundant haptic interface are shown, with particular attention to the control system. After a brief presentation of the main characteristics of the device, of the kinematic structure of the mechanism and of the different methods used for the resolution of the inverse kinematics, the control problem is shown, together with experimental results obtained from several simulations. For simplicity reasons, all the simulations were done considering the device as a parallel kinematic manipulator.
2014
Righettini, Paolo; Strada, Roberto; Ginammi, Andrea; Fenili, Luca; Teoldi, Cristian; Lorenzi, Vittorio
File allegato/i alla scheda:
File Dimensione del file Formato  
Lorenzi - Control System design of a 4-DOF redundant haptic interface.pdf

Solo gestori di archivio

Versione: publisher's version - versione editoriale
Licenza: Licenza default Aisberg
Dimensione del file 1.05 MB
Formato Adobe PDF
1.05 MB Adobe PDF   Visualizza/Apri
Pubblicazioni consigliate

Aisberg ©2008 Servizi bibliotecari, Università degli studi di Bergamo | Terms of use/Condizioni di utilizzo

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/10446/31983
Citazioni
  • Scopus 1
  • ???jsp.display-item.citation.isi??? ND
social impact