2008 | OriginalPaper | Buchkapitel
Haptic Rendering of Actuated Mechanisms by Active Admittance Control
verfasst von : Michael Strolz, Martin Buss
Erschienen in: Haptics: Perception, Devices and Scenarios
Verlag: Springer Berlin Heidelberg
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Virtual Prototyping with haptic feedback offers great benefits in the development process of actuated systems. We present a generic control scheme for the haptic rendering of actuated mechanisms, introducing the
active admittance
. It extends the conventional admittance control by modeling the actuation and the movable parts of the mechanism separately. This allows for an efficient iterative design and evaluation of an actuated mechanism and its single elements. The practicability of active admittance control is demonstrated by haptically rendering a car door with two actuated degrees-of-freedom.