| Autor: |
G. Schmidt, Jens Hoogen, R. Riener |
| Rok vydání: |
2003 |
| Předmět: |
|
| Zdroj: |
Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.. |
| DOI: |
10.1109/romoco.2002.1177078 |
| Popis: |
A novel 6 DOF robotic haptic device for orthopedic training is presented for display of the motion dynamics of a virtual human knee joint. For achieving the high impedances required by this application an industrial robot has been selected as an actuator and extended with a PC-based high performance controller hardware and redundant safety features. Two possible control architectures - a force-command and motion-command control - are presented and both implemented in a 1 DOF application. Based on a new method for evaluation and comparison of controller performance in terms of impedance error the experimental results reveal that motion-command control provides better accuracy for display of the high impedances specific to the human knee application. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
|
