(Georgia Institute of Technology, 2003)
Book, Wayne J.; Swanson, Davin K.
Robotic devices now commonly interact physically with humans. Control issues surrounding this constraint are discussed and several approaches are considered. Examined in detail is the use of energetically passive designs, especially of the dissipative variety. Three different control algorithms are introduced and compared in their ability to guide a human user along a desired path in a rapid fashion. Physical measurements are correlated with user opinion. Other human-computer issues that are introduced in this paper are time delay for force reflective manipulation haptics for equipment operation and a robotic surface with many degrees of freedom.
(Georgia Institute of Technology, 2001-07)
Swanson, Davin K.; Book, Wayne J.
An existing two degree-of-freedom passive haptic display is used to perform obstacle avoidance tasks. Two types of controllers are examined. One attempts to control the velocity direction of the display's handle in order to guide the user around obstacles. The other controller selectively kinematically constrains the device to a single degree of freedom. The inherent passivity constraint of the haptic display imposes performance limitations on the two controllers
(Georgia Institute of Technology, 2000-09)
Swanson, Davin K.; Book, Wayne J.
The control of a passive dissipative haptic interface using electromagnetic dry friction clutches as actuators is considered. The performance of the device is currently limited by actuator performance. A dynamic simulation of the system indicates that actuator torque may be better controlled with torque feedback, resulting in improved path-following performance of the haptic interface. Experimental tests are presented which illustrate the validity of the simulation and the feasibility of implementing torque feedback control on the system's clutches.