Design and control of a hyper-redundant haptic interface

被引：0

作者：

Ueberle, M ^{[1
]}

Buss, M

机构：

[1] Tech Univ Berlin, Control Syst Grp, Einsteinufer 17EN, D-10587 Berlin, Germany

[2] Tech Univ Munich, Inst Automat Control Engn, D-80290 Munich, Germany

来源：

EXPERIMENTAL ROBOTICS IX | 2006年 / 21卷

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents the design concept of a hyper-redundant haptic interface with 10 actuated degrees-of-freedom (DOF). The kinematical redundancies allow a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical studies comparing the performance of local redundancy optimisation techniques are presented along with the results of hardware experiments for closed loop performance.

引用

页码：523 / +

页数：2

共 11 条

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