Haptic Rendering of Planar Rigid-Body Motion using a Redundant Parallel Mechanism
نویسندگان
چکیده
We present a system for rendering planar rigid-body motion by means of a redundant parallel mechanism. The device design, the control architecture and the passive virtual environment simulation are presented. The system is used to compare various virtual walls and friction models proposed for haptic applications. In addition, the reset-integrator dry friction model proposed by Haessig and Friedland [8] is implemented in a haptic interface for the first time.
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