Dynamic modeling and parameter identification of a parallel haptic interface
Dynamic modeling and parameter identification of a parallel haptic interface
复制标题
并行触觉界面的动态建模和参数识别
DOI：
10.1109/haptic.2002.998956
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
L. Pao
中科院分区：
文献类型：
--
作者：
C.D. Lee;D. Lawrence;L. Pao
本文描述了一个五自由度并联触觉界面的动力学建模。采用一种新颖的手/机构划分来定义机构，从而可以由五个相同的执行杆模型建立模型。首先利用牛顿/欧拉方程推导出每个杆的动力学方程，然后进行线性化，得到每个杆的阻抗传递函数模型。然后，通过注意并联阻抗的增加，将该模型用作整个机构模型的基础。利用机构和杆模型，推导出多变量力控制所需的执行器力和杆端感知轴向力之间的传递函数。最后，讨论了利用这些模型进行参数辨识的问题。
This paper describes the dynamic modeling of a five degree of freedom parallel haptic interface. A novel hand/mechanism partition is used to define the mechanism so that the model can be built up from five identical actuator rod models. The dynamic equations for each rod are first derived using the Newton/Euler equations and are then linearized to obtain an impedance transfer function model for each rod. This model is then used as the basis for the overall mechanism model by noting that parallel impedances add. The transfer function between actuator forces and sensed axial forces at the rod tips, needed for multivariable force control, is derived using the mechanism and rod models. Finally, parameter identification using these models is also discussed.
影响因子：
2.4
作者：
BOLANOWSKI, SJ;GESCHEIDER, GA;CHECKOSKY, CM
通讯作者：
CHECKOSKY, CM