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

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

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 the actuator performance. A dynamic simulation of the system indicates that the actuator torque may be better controlled...

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Bibliographic Details
Published in:Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162) pp. 736 - 741
Main Authors: Swanson, D.K., Books, W.J.
Format: Conference Proceeding
Language:English
Published: IEEE 2000
Subjects:
Actuators
Computational modeling
Feedback control
Force control
Friction
Haptic interfaces
Humans
Safety
Testing
Torque control
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Description
Summary: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 the actuator performance. A dynamic simulation of the system indicates that the 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 feasibility of implementing torque feedback control on the system clutches.
ISBN:9780780365629
0780365623
DOI:10.1109/CCA.2000.897525