4-DOF Redundant Haptic Interface: Redundancy Coordination Method for Control System Design

The present work deals with the development of a 4-DOF redundant haptic interface, with particular focus on the problem of reaching the system's mechanical limits. 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, an improvement of one of the methods is shown, together with results obtained from several simulations. Being the objective of the work just the definition of a redundancy coordination method, the system, rather than an haptic interface, has been analyzed as a parallel kinematic manipulator.