From Friction Measurement to Haptic Rendering with One Point-Based Haptic Device

2010 ◽  
Author(s):  
Wataru Wakita ◽  
Hirokazu Murai ◽  
Hiromi Tanaka
Keyword(s):  
Haptic Rendering ◽  
Haptic Device ◽  
Friction Measurement

On Passive Non-Iterative Variable-Step Numerical Integration of Mechanical Systems for Haptic Rendering

2008 ◽  
Author(s):  
Dongjun Lee ◽  
Ke Huang
Keyword(s):  
Numerical Integration ◽  
Mechanical Systems ◽  
Haptic Rendering ◽  
Haptic Device ◽  
Integration Step ◽  
Constant Mass ◽  
Supply Rate ◽  
Integration Algorithm ◽  
Collision Handling ◽  
Variable Step

This paper consists of three parts. First, with a slightly-different, yet, more physically-plausible, discrete supply-rate (i.e. power), we propose a non-iterative (i.e. fast) and variable-step numerical integration algorithm for (scalar) discrete-passive mechanical systems, consisting of constant mass and damper, and a certain class of nonlinear spring. In the second part, we propose a fast passive collision handling algorithm with a spring-damper type virtual wall, which, to detect exact time of contacts, requires at most three intermediate non-iterative computations within each integration-step. We then propose a way of how to passively connect this discrete-passive, non-iterative, and variable-step mechanical integrators (with passive collision handling) to a continuous haptic device.

scholarly journals Haptic Rendering of Arbitrary Serial Manipulators for Robot Programming

2021 ◽  
pp. 1-1
Author(s):  
Michael Fennel ◽  
Antonio Zea ◽  
Johannes Mangler ◽  
Arne Roennau ◽  
Uwe D. Hanebeck
Keyword(s):  
Haptic Rendering ◽  
Robot Programming ◽  
Serial Manipulators
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