Torque feedback control of dry friction clutches for a dissipative passive haptic interface

被引：4
|
作者：
Swanson, DK [1 ]
Book, WJ [1 ]
机构：
[1] Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA
来源：
PROCEEDINGS OF THE 2000 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS | 2000年
关键词：
D O I：
10.1109/CCA.2000.897525
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：736 / 741
页数：6
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