Abstract

In this paper we are concerned with allowing the operator of a haptic display to interact with virtual systems having significant inertial dynamics and realistic constraints. We review the mathematical structure arising from the kinetic energy metric, required to create a virtual dynamics simulation consisting of rigid-body dynamics along with holonomic and/or nonholonomic motion constraints. We develop an admittance controller composed of feedforward and feedback terms, while preserving the integrity of the intended virtual dynamics simulation. This controller is implemented on the Cobotic Hand Controller, an admittance-type haptic display, and two examples are discussed.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.